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{ + creatureManager.OnUpdate += ragdoll.UpdateCoM; + creatureManager.OnUpdate += ragdoll.CheckBalanceState; + + creatureManager.OnUpdate += CocoStateChanger; + } + + #region Coco Behaviors + /// + /// Change Coco's behavior by current state. + /// + private void CocoStateChanger() + { + if (ragdoll.FellDown && currentCocoState != CocoState.FellDown) + { + currentCocoState = CocoState.FellDown; + creatureManager.OnFixedUpdate -= MoveTowardsTarget; + + ragdoll.FallDown(); + StartCoroutine(ragdoll.GetUp(3f, () => + { + currentCocoState = CocoState.Idle; + + })); + } + + switch (currentCocoState) + { + case CocoState.Idle: + if (!ragdoll.InViewAngle) + ragdoll.LookForTarget(target); + + if (ragdoll.InViewAngle) + { + currentCocoState = CocoState.TargetDetected; + creatureManager.OnFixedUpdate += MoveTowardsTarget; + } + break; + + case CocoState.TargetDetected: + if (ragdoll.InViewAngle) + ragdoll.LookForTarget(target); + + if (!ragdoll.InViewAngle) + { + currentCocoState = CocoState.Idle; 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b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/Editor/RagdollArmatureEditor.cs new file mode 100644 index 0000000..9d4142f --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/Editor/RagdollArmatureEditor.cs @@ -0,0 +1,182 @@ +using UnityEditor; +using UnityEngine; + +namespace CollieLab.ActiveRagdoll +{ + [CustomEditor(typeof(RagdollArmature))] + public class RagdollArmatureEditor : Editor + { + #region Private Field + private const int HORIZONTALINDENT = 15; + private const int VERTICALEDIVIDESPACE = 2; + private const int VERTICALELEMENTSPACE = -1; + + private RagdollArmature armature = null; + private SerializedProperty headBoneProperty = null; + private SerializedProperty bodyBoneProperty = null; + private SerializedProperty legBoneProperty = null; + private SerializedProperty tailBoneProperty = null; + private SerializedProperty ignoreCollidersProperty = null; + + private bool armatureFoldout = false; + private bool ignoreCollidersFoldout = false; + #endregion + + private void OnEnable() + { + armature = (RagdollArmature)target; + headBoneProperty = serializedObject.FindProperty("head"); + bodyBoneProperty = serializedObject.FindProperty("bodies"); + legBoneProperty = serializedObject.FindProperty("legs"); + tailBoneProperty = serializedObject.FindProperty("tail"); + ignoreCollidersProperty = serializedObject.FindProperty("ignoreColliderGroup"); + } + + public override void OnInspectorGUI() + { + InitGUIStyles(); + + serializedObject.Update(); + + EditorGUILayout.LabelField("Armature", titleStyle); + EditorGUILayout.Space(); + + ArmatureSettingGUI(); + CollisionSettingGUI(); + + serializedObject.ApplyModifiedProperties(); + } + + #region Armature GUI + /// + /// + /// + private void ArmatureSettingGUI() + { + EditorGUI.indentLevel++; + EditorGUILayout.BeginVertical(GUI.skin.GetStyle("HelpBox")); + { + armatureFoldout = EditorGUILayout.Foldout(armatureFoldout, "BoneInfo"); + if (armatureFoldout) + { + EditorGUILayout.BeginHorizontal(); + { + GUILayout.Space(HORIZONTALINDENT); + if (GUILayout.Button("Initialize")) + { + InitializeBoneElement(); + } + } + EditorGUILayout.EndHorizontal(); + + EditorGUILayout.Space(VERTICALEDIVIDESPACE); + + EditorGUILayout.PropertyField(headBoneProperty); + EditorGUILayout.PropertyField(bodyBoneProperty); + EditorGUILayout.PropertyField(legBoneProperty); + EditorGUILayout.PropertyField(tailBoneProperty); + + EditorGUILayout.Space(VERTICALELEMENTSPACE); + } + } + EditorGUILayout.EndVertical(); + EditorGUILayout.Space(VERTICALEDIVIDESPACE); + EditorGUI.indentLevel--; + } + #endregion + + #region Armature Controls + /// + /// Get components required for BoneInfo. + /// + private void InitializeBoneElement() + { + for (int i = 0; i < armature.Head.Length; i++) + { + GetBoneComponents(armature.Head[i]); + } + + for (int i = 0; i < armature.Bodies.Length; i++) + { + GetBoneComponents(armature.Bodies[i]); + } + + for (int i = 0; i < armature.Legs.Length; i++) + { + GetLimbBoneComponents(armature.Legs[i].leftLeg); + GetLimbBoneComponents(armature.Legs[i].rightLeg); + } + + for (int i = 0; i < armature.Tail.Length; i++) + { + GetBoneComponents(armature.Tail[i]); + } + } + + private void GetLimbBoneComponents(LimbInfo limb) + { + GetBoneComponents(limb.upper); + GetBoneComponents(limb.lower); + GetBoneComponents(limb.end); + } + + private void GetBoneComponents(BoneInfo bone) + { + if (bone.obj == null) return; + + bone.joint = bone.obj.GetComponent(); + bone.body = bone.obj.GetComponent(); + bone.collider = bone.obj.GetComponent(); + } + #endregion + + #region Collision GUI + /// + /// + /// + private void CollisionSettingGUI() + { + EditorGUI.indentLevel++; + EditorGUILayout.BeginVertical(GUI.skin.GetStyle("HelpBox")); + { + ignoreCollidersFoldout = EditorGUILayout.Foldout(ignoreCollidersFoldout, "Ignore Colliders"); + if (ignoreCollidersFoldout) + { + EditorGUILayout.PropertyField(ignoreCollidersProperty); + } + } + EditorGUILayout.EndVertical(); + EditorGUILayout.Space(VERTICALEDIVIDESPACE); + EditorGUI.indentLevel--; + } + #endregion + + #region GUI Styles + private GUIStyle titleStyle = null; + private GUIStyle greenStyle = null; + private GUIStyle redStyle = null; + + private bool isGUIInitialized = false; + #endregion + + #region GUI Initialize + private void InitGUIStyles() + { + if (isGUIInitialized) return; + + titleStyle = new GUIStyle(EditorStyles.label); + titleStyle.fontSize = 16; + titleStyle.fontStyle = FontStyle.Bold; + titleStyle.wordWrap = true; + + greenStyle = new GUIStyle(EditorStyles.label); + greenStyle.normal.textColor = Color.green; + + redStyle = new GUIStyle(EditorStyles.label); + redStyle.normal.textColor = Color.red; + + isGUIInitialized = true; + } + #endregion + } +} diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/Editor/RagdollArmatureEditor.cs.meta b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/Editor/RagdollArmatureEditor.cs.meta new file mode 100644 index 0000000..f999c93 --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/Editor/RagdollArmatureEditor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 187bb5f9669f643219a8bc06f73795b2 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/JointDrives.cs b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/JointDrives.cs new file mode 100644 index 0000000..a63f0d6 --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/JointDrives.cs @@ -0,0 +1,64 @@ +using UnityEngine; + +namespace CollieLab.ActiveRagdoll +{ + [CreateAssetMenu(fileName = "JointDrives", menuName = "Coco/Creature/JointDrives")] + public class JointDrives : ScriptableObject + { + #region Public Field + public JointDrive strong = new JointDrive + { + positionSpring = 1000, + positionDamper = 0, + maximumForce = Mathf.Infinity + }; + + public JointDrive moderate = new JointDrive + { + positionSpring = 600, + positionDamper = 0, + maximumForce = Mathf.Infinity + }; + + public JointDrive weak = new JointDrive + { + positionSpring = 100, + positionDamper = 0, + maximumForce = Mathf.Infinity + }; + + public JointDrive none = new JointDrive + { + positionSpring = 0, + positionDamper = 0, + maximumForce = Mathf.Infinity + }; + #endregion + + /// + /// Return joint power accordingly. + /// + public JointDrive GetJointDrive(JointStrength strength) + { + switch (strength) + { + case JointStrength.None: + return none; + + case JointStrength.Weak: + return weak; + + case JointStrength.Moderate: + return moderate; + + case JointStrength.Strong: + return strong; + + default: + return moderate; + } + } + } + + public enum JointStrength { None, Weak, Moderate, Strong } +} diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/JointDrives.cs.meta b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/JointDrives.cs.meta new file mode 100644 index 0000000..77a6bbe --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/JointDrives.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: f474ed694468e495dbd90d2c890f155d +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/LimbTargetRotations.cs b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/LimbTargetRotations.cs new file mode 100644 index 0000000..1e96951 --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/LimbTargetRotations.cs @@ -0,0 +1,43 @@ +using System; +using UnityEngine; + +namespace CollieLab.ActiveRagdoll +{ + [CreateAssetMenu(fileName = "LimbTargetRotations", menuName = "Coco/Creature/LimbTargetRotations")] + public class LimbTargetRotations : ScriptableObject + { + #region Serialized Field + [SerializeField] public LimbTargetRotation[] targetRotations = null; + #endregion + } + + [Serializable] + public class LimbTargetRotation + { + #region Serialized Field + [SerializeField] private Vector3 upperRotation = Vector3.zero; + public Quaternion UpperRot + { + get => Quaternion.Euler(upperRotation); + } + + [SerializeField] private Vector3 lowerRotation = Vector3.zero; + public Quaternion LowerRot + { + get => Quaternion.Euler(lowerRotation); + } + + [SerializeField] private Vector3 endRotation = Vector3.zero; + public Quaternion EndRot + { + get => Quaternion.Euler(endRotation); + } + + [SerializeField] private float duration = 0f; + public float Duration + { + get => duration; + } + #endregion + } +} diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/LimbTargetRotations.cs.meta b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/LimbTargetRotations.cs.meta new file mode 100644 index 0000000..e9943ce --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/LimbTargetRotations.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: da75a3fb38f9a4c1994e750d58e9b54b +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/Ragdoll.cs b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/Ragdoll.cs new file mode 100644 index 0000000..13dd42e --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/Ragdoll.cs @@ -0,0 +1,148 @@ +using System; +using System.Collections; +using UnityEngine; + +namespace CollieLab.ActiveRagdoll +{ + public class Ragdoll : MonoBehaviour + { + #region Serialized Field + [Header("Ragdoll Settings")] + [SerializeField] private RagdollArmature armature = null; + [SerializeField] private RagdollMovement movement = null; + [SerializeField] private RagdollSensor sensors = null; + [SerializeField] private RagdollPresets presets = null; + + [SerializeField] private GameObject comObj = null; + public GameObject CoMObj + { + get => comObj; + set => comObj = value; + } + [SerializeField] private GameObject normalFace = null; + [SerializeField] private GameObject xFace = null; + #endregion + + #region Private Field + private Vector3 comInitialValue = Vector3.zero; + + private Vector3 com = Vector3.zero; + public Vector3 CoM + { + get => com; + } + + private float balanceValue = 0f; + public float BalanceValue + { + get => balanceValue; + } + + private bool outOfBalance = false; + public bool OutOfBalance + { + get => outOfBalance; + } + + private bool fellDown = false; + public bool FellDown + { + get => fellDown; + } + + private bool inViewAngle = false; + public bool InViewAngle + { + get => inViewAngle; + } + #endregion + + private void Awake() + { + armature.GatherBones(); + armature.FindKeyBones(); + armature.IgnoreColliders(); + + movement.SetJointPowerAll(armature.AllBones, JointStrength.Strong); + movement.InitMovements(armature.Legs); + } + + #region Ragdoll Calculations + /// + /// Update position & rotation of CoM gameobject. + /// + public void UpdateCoM() + { + comObj.transform.position = armature.CalculateCoM(); + com = comObj.transform.InverseTransformPoint(armature.RootBone.body.position); + + if (comInitialValue == Vector3.zero) + comInitialValue = com; + + CoMObj.transform.rotation = armature.RootBone.body.rotation; + } + + /// + /// Update ragdoll balance state. + /// + public void CheckBalanceState() + { + balanceValue = Vector3.Distance(com, comInitialValue); + outOfBalance = balanceValue > presets.OutOfBalanceThreshold; + fellDown = !fellDown && balanceValue > presets.FallDownThreshold; + } + #endregion + + #region Ragdoll Behaviors + /// + /// Ragdoll look for given target. + /// + public void LookForTarget(Transform target) + { + if (target == null) return; + inViewAngle = sensors.IsTargetInViewAngle(armature.Head[0].obj, target, presets.ViewAngle); + } + + /// + /// Ragdoll rotate towards target. + /// + public void Rotate(Transform target) + { + if (target == null) return; + movement.RotateTowardsTarget(target, armature.RootBone, presets.RotationSpeed); + } + + /// + /// Ragoll walk movement. + /// + public void Walk() + { + movement.LegMovements(armature.Legs); + } + + /// + /// + /// + public void FallDown() + { + movement.SetJointPowerAll(armature.AllBones, JointStrength.None); + movement.SetJointPower(armature.RootBone, JointStrength.None); + normalFace.SetActive(false); + xFace.SetActive(true); + } + + /// + /// + /// + public IEnumerator GetUp(float getupAfterSeconds, Action done) + { + yield return new WaitForSeconds(getupAfterSeconds); + + movement.SetJointPowerAll(armature.AllBones, JointStrength.Strong); + done?.Invoke(); + } + #endregion + } + + public enum RagdollState { Idle, Walk, Run, FellDown } +} diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/Ragdoll.cs.meta b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/Ragdoll.cs.meta new file mode 100644 index 0000000..98c6d12 --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/Ragdoll.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 3f3055a0718d344bfb1ece69a17910cb +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollArmature.cs b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollArmature.cs new file mode 100644 index 0000000..60e1bbb --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollArmature.cs @@ -0,0 +1,164 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using UnityEngine; + +namespace CollieLab.ActiveRagdoll +{ + public class RagdollArmature : MonoBehaviour + { + #region Serialized Field + [SerializeField] private BoneInfo[] head = null; + public BoneInfo[] Head + { + get => head; + set => head = value; + } + + [SerializeField] private BoneInfo[] bodies = null; + public BoneInfo[] Bodies + { + get => bodies; + set => bodies = value; + } + + [SerializeField] private LegInfo[] legs = null; + public LegInfo[] Legs + { + get => legs; + set => legs = value; + } + + [SerializeField] private BoneInfo[] tail = null; + public BoneInfo[] Tail + { + get => tail; + set => tail = value; + } + + [SerializeField] private IgnoreCollider[] ignoreColliderGroup = null; + #endregion + + #region Private Field + private BoneInfo[] allBones = null; + public BoneInfo[] AllBones + { + get => allBones; + set => allBones = value; + } + + private BoneInfo rootBone = null; + public BoneInfo RootBone + { + get => rootBone; + set => rootBone = value; + } + #endregion + + #region Initialize Bone Settings + /// + /// Gathering all the bones for calculation. + /// + public void GatherBones() + { + List allBones = new List(); + + allBones.AddRange(head.ToList()); + allBones.AddRange(bodies.ToList()); + for (int i = 0; i < legs.Length; i++) + { + AddLimbs(allBones, legs[i].leftLeg); + AddLimbs(allBones, legs[i].rightLeg); + } + allBones.AddRange(tail.ToList()); + + this.allBones = allBones.ToArray(); + } + + private void AddLimbs(List bones, LimbInfo limb) + { + if (limb.upper.obj == null) return; + + bones.Add(limb.upper); + bones.Add(limb.lower); + bones.Add(limb.end); + } + + /// + /// Find key bones that needs direct reference. + /// Body index 0 is set as the root bone. + /// + public void FindKeyBones() + { + rootBone = bodies[0]; + } + + /// + /// Ignore collisions of bones in the list. + /// + public void IgnoreColliders() + { + foreach (var colliders in ignoreColliderGroup) + { + for (int i = 0; i < colliders.ignoreColliders.Length - 1; i++) + { + for (int j = i + 1; j < colliders.ignoreColliders.Length; j++) + { + Physics.IgnoreCollision(colliders.ignoreColliders[i], colliders.ignoreColliders[j]); + } + } + } + } + #endregion + + #region Bone Calculations + /// + /// Calculate center of mass of all the bones. + /// + public Vector3 CalculateCoM() + { + Vector3 com = Vector3.zero; + float sum = 0f; + + for (int i = 0; i < allBones.Length; i++) + { + BoneInfo bone = allBones[i]; + com += bone.obj.position * bone.body.mass; + sum += bone.body.mass; + } + com /= sum; + return com; + } + #endregion + } + + [Serializable] + public class BoneInfo + { + public Transform obj = null; + public ConfigurableJoint joint = null; + public Rigidbody body = null; + public Collider collider = null; + } + + [Serializable] + public class LimbInfo + { + public BoneInfo upper = null; + public BoneInfo lower = null; + public BoneInfo end = null; + } + + [Serializable] + public class LegInfo + { + public LimbInfo leftLeg = null; + public LimbInfo rightLeg = null; + } + + [Serializable] + public class IgnoreCollider + { + public Collider[] ignoreColliders = null; + } +} diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollArmature.cs.meta b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollArmature.cs.meta new file mode 100644 index 0000000..12012f3 --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollArmature.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: e7f98f2a289284389ba19f17c8223f93 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollGizmos.cs b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollGizmos.cs new file mode 100644 index 0000000..b6b4ad8 --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollGizmos.cs @@ -0,0 +1,36 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +namespace CollieLab.ActiveRagdoll +{ + public class RagdollGizmos : MonoBehaviour + { + #region Serialized Field + [SerializeField] private Ragdoll ragdoll = null; + #endregion + + private void OnDrawGizmos() + { + if (ragdoll == null) { return; } + + DrawCoM(); + } + + #region Gizmos + private void DrawCoM() + { + Transform comObjTransform = ragdoll.CoMObj.transform; + + Gizmos.color = Color.red; + Gizmos.DrawSphere(comObjTransform.position, 0.03f); + + Gizmos.color = Color.green; + Gizmos.DrawRay(comObjTransform.position, comObjTransform.forward); + + Gizmos.color = Color.yellow; + Gizmos.DrawRay(comObjTransform.position, comObjTransform.right); + } + #endregion + } +} diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollGizmos.cs.meta b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollGizmos.cs.meta new file mode 100644 index 0000000..885bbbe --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollGizmos.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: ee7a39513db164500b39a066f96d648a +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollHelper.cs b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollHelper.cs new file mode 100644 index 0000000..3124dd0 --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollHelper.cs @@ -0,0 +1,18 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +namespace CollieLab.ActiveRagdoll +{ + public static class RagdollHelper + { + /// + /// + /// + public static void ToggleLegState(this ref LegState state) + { + state = state == LegState.Swing ? LegState.Stance : LegState.Swing; + } + + } +} diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollHelper.cs.meta b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollHelper.cs.meta new file mode 100644 index 0000000..58486f8 --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollHelper.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: b7010f6065ca34159ba4f52cbbbf2be0 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollMovement.cs b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollMovement.cs new file mode 100644 index 0000000..6cd904e --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollMovement.cs @@ -0,0 +1,145 @@ +using System; +using System.Collections; +using UnityEngine; + +namespace CollieLab.ActiveRagdoll +{ + public class RagdollMovement : MonoBehaviour + { + #region Serialized Field + [SerializeField] private JointDrives jointDrives = null; + [SerializeField] private LimbTargetRotations swingRotations = null; + [SerializeField] private LimbTargetRotations stanceRotations = null; + #endregion + + #region Private Field + private LegMovement[] legMovements = null; + #endregion + + #region Initialize + /// + /// Initialize movemnts of bones. + /// + public void InitMovements(LegInfo[] legInfo) + { + legMovements = new LegMovement[legInfo.Length]; + for (int i = 0; i < legMovements.Length; i++) + { + LegMovement movement = legMovements[i] = new LegMovement(); + if (i % 2 == 0) + { + movement.leftLegState.ToggleLegState(); + movement.rightLegState.ToggleLegState(); + } + movement.leftLegMovement = new Movement(); + movement.rightLegMovement = new Movement(); + } + } + + /// + /// Set jointDrives of all the bones. + /// + public void SetJointPowerAll(BoneInfo[] allBones, JointStrength strength) + { + for (int i = 0; i < allBones.Length; i++) + SetJointPower(allBones[i], strength); + } + + /// + /// Set jointDrive of a single bone. + /// + public void SetJointPower(BoneInfo bone, JointStrength strength) + { + JointDrive jointDrive = jointDrives.GetJointDrive(strength); + ConfigurableJoint joint = bone.joint; + joint.angularXDrive = jointDrive; + joint.angularYZDrive = jointDrive; + } + #endregion + + #region Joint Rotations + /// + /// Rotate a single bone. + /// + public void RotateTowardsTarget(Transform target, BoneInfo bone, float speed) + { + Vector3 vecToTarget = target.position - bone.obj.position; + Vector3 vecToTargetFlat = Vector3.Scale(vecToTarget, new Vector3(1, 0, 1)); + Quaternion lookRotation = Quaternion.Inverse(Quaternion.LookRotation(vecToTargetFlat)); + Quaternion lerpValue = Quaternion.Lerp(bone.joint.targetRotation, lookRotation, speed * Time.fixedDeltaTime); + bone.joint.targetRotation = lerpValue; + } + + /// + /// Left and Right leg movement. + /// + public void LegMovements(LegInfo[] legs) + { + if (legs.Length != legMovements.Length) return; + + for (int i = 0; i < legs.Length; i++) + { + LegMovement leg = legMovements[i]; + LimbTargetRotations leftRot = leg.leftLegState == LegState.Swing ? swingRotations : stanceRotations; + LimbTargetRotations rightRot = leg.rightLegState == LegState.Swing ? swingRotations : stanceRotations; + + leg.leftLegMovement.movement = StartCoroutine(RotateLimbJoints(legs[i].leftLeg, leftRot, leg.leftLegMovement, () => + { + leg.leftLegState.ToggleLegState(); + })); + + leg.rightLegMovement.movement = StartCoroutine(RotateLimbJoints(legs[i].rightLeg, rightRot, leg.rightLegMovement, () => + { + leg.rightLegState.ToggleLegState(); + })); + } + } + + private IEnumerator RotateLimbJoints(LimbInfo lim, LimbTargetRotations limbRot, Movement movement, Action executed) + { + if (movement.isExecuting) yield break; + movement.isExecuting = true; + + for (int i = 0; i < limbRot.targetRotations.Length; i++) + { + LimbTargetRotation targetRot = limbRot.targetRotations[i]; + float elapsedTime = 0f; + + while (elapsedTime < targetRot.Duration) + { + elapsedTime += Time.fixedDeltaTime; + float perc = elapsedTime / targetRot.Duration; + + lim.upper.joint.targetRotation = Quaternion.Lerp(lim.upper.joint.targetRotation, targetRot.UpperRot, perc); + lim.lower.joint.targetRotation = Quaternion.Lerp(lim.lower.joint.targetRotation, targetRot.LowerRot, perc); + lim.end.joint.targetRotation = Quaternion.Lerp(lim.end.joint.targetRotation, targetRot.EndRot, perc); + yield return new WaitForFixedUpdate(); + } + lim.upper.joint.targetRotation = targetRot.UpperRot; + lim.lower.joint.targetRotation = targetRot.LowerRot; + lim.end.joint.targetRotation = targetRot.EndRot; + } + movement.isExecuting = false; + executed?.Invoke(); + } + #endregion + } + + [Serializable] + public class Movement + { + public bool isExecuting = false; + public Coroutine movement = null; + } + + [Serializable] + public class LegMovement + { + public LegState leftLegState = LegState.Swing; + public LegState rightLegState = LegState.Stance; + public Movement leftLegMovement = null; + public Movement rightLegMovement = null; + } + + public enum LegState { Swing, Stance } +} diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollMovement.cs.meta b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollMovement.cs.meta new file mode 100644 index 0000000..594b548 --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollMovement.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 47d3b73d75b5649e680a302de404e027 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollPresets.cs b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollPresets.cs new file mode 100644 index 0000000..d594a4e --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollPresets.cs @@ -0,0 +1,35 @@ +using UnityEngine; + +namespace CollieLab.ActiveRagdoll +{ + [CreateAssetMenu(fileName = "RagdollPresets", menuName = "Coco/Creature/RagdollPresets")] + public class RagdollPresets : ScriptableObject + { + [Header("Balance")] + [SerializeField] private float outOfBalanceThreshold = 0.03f; + public float OutOfBalanceThreshold + { + get => outOfBalanceThreshold; + } + + [SerializeField] private float fallDownThreshold = 0.05f; + public float FallDownThreshold + { + get => fallDownThreshold; + } + + [Header("Movement")] + [SerializeField] private float rotationSpeed = 3f; + public float RotationSpeed + { + get => rotationSpeed; + } + + [Header("Detect")] + [SerializeField] private float viewAngle = 60f; + public float ViewAngle + { + get => viewAngle; + } + } +} diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollPresets.cs.meta b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollPresets.cs.meta new file mode 100644 index 0000000..6d2a124 --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollPresets.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 3a690da264510452a96c3cdde3c83a83 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollSensor.cs b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollSensor.cs new file mode 100644 index 0000000..d824dd1 --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollSensor.cs @@ -0,0 +1,18 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +namespace CollieLab.ActiveRagdoll +{ + public class RagdollSensor : MonoBehaviour + { + public bool IsTargetInViewAngle(Transform viewPoint, Transform target, float viewAngle) + { + Vector3 dir = target.position - viewPoint.position; + float cosAngle = Vector3.Dot(dir.normalized, viewPoint.forward); + float angle = Mathf.Acos(cosAngle) * Mathf.Rad2Deg; + bool inViewAngle = angle < viewAngle; + return inViewAngle; + } + } +} diff --git a/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollSensor.cs.meta b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollSensor.cs.meta new file mode 100644 index 0000000..35c8dfe --- /dev/null +++ b/Assets/ActiveRagdoll/Scripts/ActiveRagdoll/RagdollSensor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 3a105e0a4f6154a37835892a6a2e32b1 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/ProjectInfo.meta b/Assets/ProjectInfo.meta new file mode 100644 index 0000000..bcb9376 --- /dev/null +++ b/Assets/ProjectInfo.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: edea06047697f404481ab3f077efdd01 +folderAsset: yes +DefaultImporter: + 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System.Reflection; +using UnityEditor; +using UnityEngine; + +[CustomEditor(typeof(ProjectReadme))] +[InitializeOnLoad] +public class ProjectReadmeEditor : Editor +{ + #region Private Field + private static string showedreadmeSessionStateName = "ProjectReadmeEditor.showedReadme"; + private static float space = 16f; + #endregion + + static ProjectReadmeEditor() + { + EditorApplication.delayCall += SelectReadmeAutomatically; + } + + #region Setup + private static void SelectReadmeAutomatically() + { + if (SessionState.GetBool(showedreadmeSessionStateName, false)) return; + var readme = SelectReadme(); + SessionState.SetBool(showedreadmeSessionStateName, true); + + if (!readme || readme.LoadedLayout) return; + LoadLayout(); + readme.LoadedLayout = true; + } + + [MenuItem("Coco/Show Readme")] + private static ProjectReadme SelectReadme() + { + var ids = AssetDatabase.FindAssets("ProjectReadme t:ProjectReadme"); + if (ids.Length > 0) + { + var readmeObject = AssetDatabase.LoadMainAssetAtPath(AssetDatabase.GUIDToAssetPath(ids[0])); + Selection.objects = new[] { readmeObject }; + return (ProjectReadme)readmeObject; + } + else + { + Debug.Log("[Readme] Couldn't find readme for this project."); + return null; + } + } + + private static void LoadLayout() + { + var assembly = typeof(EditorApplication).Assembly; + var windowLayoutType = assembly.GetType("UnityEditor.WindowLayout", true); + var method = windowLayoutType.GetMethod("LoadWindowLayout", BindingFlags.Static); + method?.Invoke(null, new object[] { Path.Combine(Application.dataPath, "ProjectInfo/Layout.wlt"), false }); + } + #endregion + + #region GUIStyle Field + [SerializeField] private GUIStyle linkStyle; + [SerializeField] private GUIStyle titleStyle; + [SerializeField] private GUIStyle headingStyle; + [SerializeField] private GUIStyle bodyStyle; + + private bool isInitialized; + #endregion + + protected override void OnHeaderGUI() + { + var readme = (ProjectReadme)target; + InitGUIStyle(readme); + + var iconWidth = Mathf.Min(EditorGUIUtility.currentViewWidth / 3f - 20f, 128f); + GUILayout.BeginHorizontal("In BigTitle"); + { + GUILayout.Label(readme.Icon, GUILayout.Width(iconWidth), GUILayout.Height(iconWidth)); + GUILayout.Label(readme.Title, titleStyle); + } + GUILayout.EndHorizontal(); + } + + public override void OnInspectorGUI() + { + var readme = (ProjectReadme)target; + InitGUIStyle(readme); + + foreach (var section in readme.Sections) + { + if (!string.IsNullOrEmpty(section.heading)) + { + GUILayout.Label(section.heading, headingStyle); + } + if (!string.IsNullOrEmpty(section.text)) + { + GUILayout.Label(section.text, bodyStyle); + } + if (!string.IsNullOrEmpty(section.linkText)) + { + if (LinkLabel(new GUIContent(section.linkText))) + { + Application.OpenURL(section.url); + } + } + GUILayout.Space(space); + } + } + + #region Initialize GUIStyle + private void InitGUIStyle(ProjectReadme readme) + { + if (isInitialized) return; + bodyStyle = new GUIStyle(EditorStyles.label); + bodyStyle.fontSize = 23; + bodyStyle.font = readme.Font; + bodyStyle.wordWrap = true; + + titleStyle = new GUIStyle(bodyStyle); + titleStyle.fontSize = 80; + titleStyle.font = readme.Font; + + headingStyle = new GUIStyle(bodyStyle); + headingStyle.fontSize = 36; + headingStyle.font = readme.Font; + + linkStyle = new GUIStyle(bodyStyle); + bodyStyle.fontSize = 23; + bodyStyle.font = readme.Font; + linkStyle.wordWrap = false; + linkStyle.normal.textColor = new Color(0x00 / 255f, 0x78 / 255f, 0xDA / 255f, 1f); + linkStyle.stretchWidth = false; + + isInitialized = true; + } + + private bool LinkLabel(GUIContent label, params GUILayoutOption[] options) + { + var position = GUILayoutUtility.GetRect(label, linkStyle, options); + + Handles.BeginGUI(); + Handles.color = linkStyle.normal.textColor; + Handles.DrawLine(new Vector3(position.xMin, position.yMax), new Vector3(position.xMax, position.yMax)); + Handles.color = Color.white; + Handles.EndGUI(); + + EditorGUIUtility.AddCursorRect(position, MouseCursor.Link); + return GUI.Button(position, label, linkStyle); + } + #endregion +} diff --git a/Assets/ProjectInfo/Editor/ProjectReadmeEditor.cs.meta b/Assets/ProjectInfo/Editor/ProjectReadmeEditor.cs.meta new file mode 100644 index 0000000..df3ac83 --- /dev/null +++ b/Assets/ProjectInfo/Editor/ProjectReadmeEditor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 50afe7e07c6874723b00defc16ba5997 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/ProjectInfo/Icons.meta b/Assets/ProjectInfo/Icons.meta new file mode 100644 index 0000000..40e24c2 --- /dev/null +++ b/Assets/ProjectInfo/Icons.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: a6cbf4234580b42789c492c5c38b0d49 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git 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a/Assets/ProjectInfo/ProjectReadme.cs b/Assets/ProjectInfo/ProjectReadme.cs new file mode 100644 index 0000000..cc3ce6e --- /dev/null +++ b/Assets/ProjectInfo/ProjectReadme.cs @@ -0,0 +1,32 @@ +using System; +using UnityEngine; + +[CreateAssetMenu(fileName = "ProjectReadme", menuName = "CollieLab/Readme", order = 1)] +public class ProjectReadme : ScriptableObject +{ + #region Serialized Field + [SerializeField] private Texture2D icon = null; + public Texture2D Icon => icon; + + [SerializeField] private string title = null; + public string Title => title ?? "NULL"; + + [SerializeField] private Section[] sections = null; + public Section[] Sections => sections; + + [SerializeField] private bool loadedLayout = false; + public bool LoadedLayout { get => loadedLayout; set => loadedLayout = value; } + + [SerializeField] private Font font = null; + public Font Font => font; + #endregion + + [Serializable] + public class Section + { + public string heading = null; + public string text = null; + public string linkText = null; + public string url = null; + } +} \ No newline at end of file diff --git a/Assets/ProjectInfo/ProjectReadme.cs.meta b/Assets/ProjectInfo/ProjectReadme.cs.meta new file mode 100644 index 0000000..a42ed7b --- /dev/null +++ b/Assets/ProjectInfo/ProjectReadme.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 22e6d58a4dc3e4111ab47102a8398abd +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/ProjectReadme.asset b/Assets/ProjectReadme.asset new file mode 100644 index 0000000..61151c8 --- /dev/null +++ b/Assets/ProjectReadme.asset @@ -0,0 +1,24 @@ +%YAML 1.1 +%TAG !u! tag:unity3d.com,2011: +--- !u!114 &11400000 +MonoBehaviour: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 0} + m_Enabled: 1 + m_EditorHideFlags: 0 + m_Script: {fileID: 11500000, guid: 22e6d58a4dc3e4111ab47102a8398abd, type: 3} + m_Name: ProjectReadme + m_EditorClassIdentifier: + icon: {fileID: 2800000, guid: 0d77b87030ebe4ba7b43d81013c1a48f, type: 3} + title: Simple Active Ragdoll + sections: + - heading: Hello + text: This project demonstrates how an active-ragdoll can self balance and move + without any animations. + linkText: + url: + loadedLayout: 0 + font: {fileID: 12800000, guid: e3265ab4bf004d28a9537516768c1c75, type: 3} diff --git a/Assets/ProjectReadme.asset.meta b/Assets/ProjectReadme.asset.meta new file mode 100644 index 0000000..2194b47 --- /dev/null +++ b/Assets/ProjectReadme.asset.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: e267f6709db5b4e53ba664a22265b8f2 +NativeFormatImporter: + externalObjects: {} + mainObjectFileID: 11400000 + userData: + assetBundleName: + assetBundleVariant: