上传YomovSDK
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Sora丶kong
895
Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/CCD IK 2D.unity
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895
Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/CCD IK 2D.unity
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1119
Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/CCD IK.unity
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1119
Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/CCD IK.unity
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25504
Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/Mech Spider.unity
Normal file
25504
Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/Mech Spider.unity
Normal file
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folderAsset: yes
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userData:
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||||
using UnityEngine;
|
||||
using System.Collections;
|
||||
|
||||
namespace RootMotion.Demos {
|
||||
|
||||
/// <summary>
|
||||
/// Mech spider Demo.
|
||||
/// </summary>
|
||||
public class MechSpider : MonoBehaviour {
|
||||
|
||||
public LayerMask raycastLayers; // The ground layers
|
||||
public float scale = 1f; // For resizing the values when the mech is resized
|
||||
public Transform body; // The body transform, the root of the legs
|
||||
public MechSpiderLeg[] legs; // All the legs of this spider
|
||||
public float legRotationWeight = 1f; // The weight of rotating the body to each leg
|
||||
public float rootPositionSpeed = 5f; // The speed of positioning the root
|
||||
public float rootRotationSpeed = 30f; // The slerp speed of rotating the root to leg heights
|
||||
public float breatheSpeed = 2f; // Speed of the breathing cycle
|
||||
public float breatheMagnitude = 0.2f; // Magnitude of breathing
|
||||
public float height = 3.5f; // Height from ground
|
||||
public float minHeight = 2f; // The minimum height from ground
|
||||
public float raycastHeight = 10f; // The height of ray origin
|
||||
public float raycastDistance = 5f; // The distance of rays (total ray length = raycastHeight + raycastDistance)
|
||||
|
||||
public Vector3 velocity { get; private set; }
|
||||
|
||||
private Vector3 lastPosition;
|
||||
private Vector3 defaultBodyLocalPosition;
|
||||
private float sine;
|
||||
private RaycastHit rootHit;
|
||||
|
||||
private void Start()
|
||||
{
|
||||
lastPosition = transform.position;
|
||||
}
|
||||
|
||||
void Update() {
|
||||
velocity = (transform.position - lastPosition) / Time.deltaTime;
|
||||
lastPosition = transform.position;
|
||||
|
||||
// Find the normal of the plane defined by leg positions
|
||||
Vector3 legsPlaneNormal = GetLegsPlaneNormal();
|
||||
|
||||
// Rotating the root
|
||||
Quaternion fromTo = Quaternion.FromToRotation(transform.up, legsPlaneNormal);
|
||||
transform.rotation = Quaternion.Slerp(transform.rotation, fromTo * transform.rotation, Time.deltaTime * rootRotationSpeed);
|
||||
|
||||
// Positioning the root
|
||||
Vector3 legCentroid = GetLegCentroid();
|
||||
Vector3 heightOffset = Vector3.Project((legCentroid + transform.up * height * scale) - transform.position, transform.up);
|
||||
transform.position += heightOffset * Time.deltaTime * (rootPositionSpeed * scale);
|
||||
|
||||
if (Physics.Raycast(transform.position + transform.up * raycastHeight * scale, -transform.up, out rootHit, (raycastHeight * scale) + (raycastDistance * scale), raycastLayers)) {
|
||||
rootHit.distance -= (raycastHeight * scale) + (minHeight * scale);
|
||||
|
||||
if (rootHit.distance < 0f) {
|
||||
Vector3 targetPosition = transform.position - transform.up * rootHit.distance;
|
||||
transform.position = Vector3.Lerp(transform.position, targetPosition, Time.deltaTime * rootPositionSpeed * scale);
|
||||
}
|
||||
}
|
||||
|
||||
// Update Breathing
|
||||
sine += Time.deltaTime * breatheSpeed;
|
||||
if (sine >= Mathf.PI * 2f) sine -= Mathf.PI * 2f;
|
||||
float br = Mathf.Sin(sine) * breatheMagnitude * scale;
|
||||
|
||||
// Apply breathing
|
||||
Vector3 breatheOffset = transform.up * br;
|
||||
body.transform.position = transform.position + breatheOffset;
|
||||
}
|
||||
|
||||
// Calculate the normal of the plane defined by leg positions, so we know how to rotate the body
|
||||
private Vector3 GetLegCentroid() {
|
||||
Vector3 position = Vector3.zero;
|
||||
|
||||
float footWeight = 1f / (float)legs.Length;
|
||||
|
||||
// Go through all the legs, rotate the normal by its offset
|
||||
for (int i = 0; i < legs.Length; i++) {
|
||||
position += legs[i].position * footWeight;
|
||||
}
|
||||
|
||||
return position;
|
||||
}
|
||||
|
||||
// Calculate the normal of the plane defined by leg positions, so we know how to rotate the body
|
||||
private Vector3 GetLegsPlaneNormal() {
|
||||
Vector3 normal = transform.up;
|
||||
|
||||
if (legRotationWeight <= 0f) return normal;
|
||||
|
||||
float legWeight = 1f / Mathf.Lerp(legs.Length, 1f, legRotationWeight);
|
||||
|
||||
// Go through all the legs, rotate the normal by its offset
|
||||
for (int i = 0; i < legs.Length; i++) {
|
||||
// Direction from the root to the leg
|
||||
Vector3 legDirection = legs[i].position - (transform.position - transform.up * height * scale);
|
||||
|
||||
// Find the tangent to transform.up
|
||||
Vector3 legNormal = transform.up;
|
||||
Vector3 legTangent = legDirection;
|
||||
Vector3.OrthoNormalize(ref legNormal, ref legTangent);
|
||||
|
||||
// Find the rotation offset from the tangent to the direction
|
||||
Quaternion fromTo = Quaternion.FromToRotation(legTangent, legDirection);
|
||||
fromTo = Quaternion.Lerp(Quaternion.identity, fromTo, legWeight);
|
||||
|
||||
// Rotate the normal
|
||||
normal = fromTo * normal;
|
||||
}
|
||||
|
||||
return normal;
|
||||
}
|
||||
}
|
||||
}
|
||||
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fileFormatVersion: 2
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guid: 5e38d8e43dbfd42c2bbdb924c89c44d0
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MonoImporter:
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serializedVersion: 2
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defaultReferences: []
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executionOrder: 0
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icon: {instanceID: 0}
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userData:
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assetBundleName:
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assetBundleVariant:
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@@ -0,0 +1,37 @@
|
||||
using UnityEngine;
|
||||
using System.Collections;
|
||||
|
||||
namespace RootMotion.Demos {
|
||||
|
||||
/// <summary>
|
||||
/// Controller for the Mech spider.
|
||||
/// </summary>
|
||||
public class MechSpiderController: MonoBehaviour {
|
||||
|
||||
public MechSpider mechSpider; // The mech spider
|
||||
public Transform cameraTransform; // The camera
|
||||
public float speed = 6f; // Horizontal speed of the spider
|
||||
public float turnSpeed = 30f; // The speed of turning the spider to align with the camera
|
||||
|
||||
public Vector3 inputVector {
|
||||
get {
|
||||
return new Vector3(Input.GetAxis("Horizontal"), 0, Input.GetAxis("Vertical"));
|
||||
}
|
||||
}
|
||||
|
||||
void Update() {
|
||||
// Read the input
|
||||
Vector3 cameraForward = cameraTransform.forward;
|
||||
Vector3 camNormal = transform.up;
|
||||
Vector3.OrthoNormalize(ref camNormal, ref cameraForward);
|
||||
|
||||
// Moving the spider
|
||||
Quaternion cameraLookRotation = Quaternion.LookRotation(cameraForward, transform.up);
|
||||
transform.Translate(cameraLookRotation * inputVector.normalized * Time.deltaTime * speed * mechSpider.scale, Space.World);
|
||||
|
||||
// Rotating the spider to camera forward
|
||||
transform.rotation = Quaternion.RotateTowards(transform.rotation, cameraLookRotation, Time.deltaTime * turnSpeed);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
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fileFormatVersion: 2
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guid: dfca8416545ee44e6b71f34d93313b69
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serializedVersion: 2
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defaultReferences: []
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executionOrder: 0
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icon: {instanceID: 0}
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userData:
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assetBundleName:
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assetBundleVariant:
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@@ -0,0 +1,177 @@
|
||||
using UnityEngine;
|
||||
using System.Collections;
|
||||
using RootMotion.FinalIK;
|
||||
|
||||
namespace RootMotion.Demos {
|
||||
|
||||
/// <summary>
|
||||
/// Leg of the Mech spider. Controls stepping and positioning the IK target
|
||||
/// </summary>
|
||||
public class MechSpiderLeg : MonoBehaviour {
|
||||
|
||||
public MechSpider mechSpider; // Reference to the target
|
||||
public MechSpiderLeg unSync; // One of the other legs that we dont want to be completely in sync with, that is stepping at the same time
|
||||
public Vector3 offset; // Offset from the default position
|
||||
public float minDelay = 0.2f, maxOffset = 1.0f, stepSpeed = 5.0f, footHeight = 0.15f, velocityPrediction = 0.2f, raycastFocus = 0.1f; // Parameters for stepping
|
||||
public AnimationCurve yOffset;
|
||||
public Transform foot;
|
||||
public Vector3 footUpAxis;
|
||||
public float footRotationSpeed = 10f;
|
||||
|
||||
public ParticleSystem sand; // FX for sand
|
||||
|
||||
private IK ik;
|
||||
private float stepProgress = 1f, lastStepTime;
|
||||
private Vector3 defaultPosition;
|
||||
private RaycastHit hit = new RaycastHit();
|
||||
private Quaternion lastFootLocalRotation;
|
||||
private Vector3 smoothHitNormal = Vector3.up;
|
||||
private Vector3 lastStepPosition;
|
||||
|
||||
// Is the leg stepping?
|
||||
public bool isStepping {
|
||||
get {
|
||||
return stepProgress < 1f;
|
||||
}
|
||||
}
|
||||
|
||||
// Gets and sets the IK position for this leg
|
||||
public Vector3 position {
|
||||
get {
|
||||
return ik.GetIKSolver().GetIKPosition();
|
||||
}
|
||||
set {
|
||||
ik.GetIKSolver().SetIKPosition(value);
|
||||
}
|
||||
}
|
||||
|
||||
void Awake()
|
||||
{
|
||||
// Find the ik component
|
||||
ik = GetComponent<IK>();
|
||||
|
||||
if (foot != null)
|
||||
{
|
||||
if (footUpAxis == Vector3.zero) footUpAxis = Quaternion.Inverse(foot.rotation) * Vector3.up;
|
||||
lastFootLocalRotation = foot.localRotation;
|
||||
ik.GetIKSolver().OnPostUpdate += AfterIK;
|
||||
}
|
||||
}
|
||||
|
||||
private void AfterIK()
|
||||
{
|
||||
if (foot == null) return;
|
||||
foot.localRotation = lastFootLocalRotation;
|
||||
|
||||
smoothHitNormal = Vector3.Slerp(smoothHitNormal, hit.normal, Time.deltaTime * footRotationSpeed);
|
||||
Quaternion f = Quaternion.FromToRotation(foot.rotation * footUpAxis, smoothHitNormal);
|
||||
foot.rotation = f * foot.rotation;
|
||||
}
|
||||
|
||||
void Start() {
|
||||
// Workaround for Unity Win Store/Phone serialization bug
|
||||
stepProgress = 1f;
|
||||
|
||||
hit = new RaycastHit();
|
||||
|
||||
var points = ik.GetIKSolver().GetPoints();
|
||||
position = points[points.Length - 1].transform.position;
|
||||
lastStepPosition = position;
|
||||
|
||||
hit.point = position;
|
||||
|
||||
// Store the default rest position of the leg
|
||||
defaultPosition = mechSpider.transform.InverseTransformPoint(position + offset * mechSpider.scale);
|
||||
|
||||
StartCoroutine(Step(position, position));
|
||||
}
|
||||
|
||||
// Find the relaxed grounded positon of the leg relative to the body in world space.
|
||||
private Vector3 GetStepTarget(out bool stepFound, float focus, float distance) {
|
||||
stepFound = false;
|
||||
|
||||
// place hit.point to the default position relative to the body
|
||||
Vector3 stepTarget = mechSpider.transform.TransformPoint(defaultPosition);
|
||||
//stepTarget += (hit.point - position) * velocityPrediction;
|
||||
stepTarget += mechSpider.velocity * velocityPrediction;
|
||||
|
||||
Vector3 up = mechSpider.transform.up;
|
||||
|
||||
// Focus the ray directions towards the spider body
|
||||
Vector3 toBody = mechSpider.body.position - position;
|
||||
Vector3 axis = Vector3.Cross(up, toBody);
|
||||
up = Quaternion.AngleAxis(focus, axis) * up;
|
||||
|
||||
// Raycast to ground the relaxed position
|
||||
if (Physics.Raycast(stepTarget + up * mechSpider.raycastHeight * mechSpider.scale, -up, out hit, mechSpider.raycastHeight * mechSpider.scale + distance, mechSpider.raycastLayers)) stepFound = true;
|
||||
|
||||
//return hit.point + mechSpider.transform.up * footHeight * mechSpider.scale;
|
||||
return hit.point + hit.normal * footHeight * mechSpider.scale;
|
||||
}
|
||||
|
||||
private void UpdatePosition(float distance)
|
||||
{
|
||||
Vector3 up = mechSpider.transform.up;
|
||||
|
||||
if (Physics.Raycast(lastStepPosition + up * mechSpider.raycastHeight * mechSpider.scale, -up, out hit, mechSpider.raycastHeight * mechSpider.scale + distance, mechSpider.raycastLayers))
|
||||
{
|
||||
position = hit.point + hit.normal * footHeight * mechSpider.scale;
|
||||
}
|
||||
}
|
||||
|
||||
void Update () {
|
||||
UpdatePosition(mechSpider.raycastDistance * mechSpider.scale);
|
||||
|
||||
// if already stepping, do nothing
|
||||
if (isStepping) return;
|
||||
|
||||
// Minimum delay before stepping again
|
||||
if (Time.time < lastStepTime + minDelay) return;
|
||||
|
||||
// If the unSync leg is stepping, do nothing
|
||||
if (unSync != null) {
|
||||
if (unSync.isStepping) return;
|
||||
}
|
||||
|
||||
// Find the ideal relaxed position for the leg relative to the body
|
||||
bool stepFound = false;
|
||||
Vector3 idealPosition = GetStepTarget(out stepFound, raycastFocus, mechSpider.raycastDistance * mechSpider.scale);
|
||||
if (!stepFound) idealPosition = GetStepTarget(out stepFound, -raycastFocus, mechSpider.raycastDistance * 3f * mechSpider.scale); // Try again with inverted focus
|
||||
if (!stepFound) return;
|
||||
|
||||
// If distance to that ideal position is less than the threshold, do nothing
|
||||
if (Vector3.Distance(position, idealPosition) < maxOffset * mechSpider.scale * UnityEngine.Random.Range(0.9f, 1.2f)) return;
|
||||
|
||||
// Need to step closer to the ideal position
|
||||
StopAllCoroutines();
|
||||
StartCoroutine(Step(position, idealPosition));
|
||||
}
|
||||
|
||||
// Stepping co-routine
|
||||
private IEnumerator Step(Vector3 stepStartPosition, Vector3 targetPosition) {
|
||||
stepProgress = 0f;
|
||||
|
||||
// Moving the IK position
|
||||
while (stepProgress < 1) {
|
||||
stepProgress += Time.deltaTime * stepSpeed;
|
||||
|
||||
position = Vector3.Lerp(stepStartPosition, targetPosition, stepProgress);
|
||||
position += mechSpider.transform.up * yOffset.Evaluate(stepProgress) * mechSpider.scale;
|
||||
lastStepPosition = position;
|
||||
|
||||
yield return null;
|
||||
}
|
||||
|
||||
position = targetPosition;
|
||||
lastStepPosition = position;
|
||||
|
||||
// Emit sand
|
||||
if (sand != null) {
|
||||
sand.transform.position = position - mechSpider.transform.up * footHeight * mechSpider.scale;
|
||||
sand.Emit(20);
|
||||
}
|
||||
|
||||
lastStepTime = Time.time;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,10 @@
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||||
fileFormatVersion: 2
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guid: ed6e75890d3ab4d4baef5ecd91784aba
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MonoImporter:
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||||
serializedVersion: 2
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||||
defaultReferences: []
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||||
executionOrder: 0
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||||
icon: {instanceID: 0}
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||||
userData:
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||||
assetBundleName:
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||||
assetBundleVariant:
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||||
@@ -0,0 +1,38 @@
|
||||
using UnityEngine;
|
||||
using System.Collections;
|
||||
|
||||
namespace RootMotion.Demos {
|
||||
|
||||
/// <summary>
|
||||
/// Emitting smoke for the mech spider
|
||||
/// </summary>
|
||||
public class MechSpiderParticles: MonoBehaviour {
|
||||
|
||||
public MechSpiderController mechSpiderController;
|
||||
|
||||
private ParticleSystem particles;
|
||||
|
||||
void Start() {
|
||||
particles = (ParticleSystem)GetComponent(typeof(ParticleSystem));
|
||||
}
|
||||
|
||||
void Update() {
|
||||
// Smoke
|
||||
float inputMag = mechSpiderController.inputVector.magnitude;
|
||||
|
||||
float emissionRate = Mathf.Clamp(inputMag * 50, 30, 50);
|
||||
|
||||
#if (UNITY_5_3 || UNITY_5_4)
|
||||
var emission = particles.emission;
|
||||
emission.rate = new ParticleSystem.MinMaxCurve(emissionRate);
|
||||
particles.startColor = new Color (particles.startColor.r, particles.startColor.g, particles.startColor.b, Mathf.Clamp(inputMag, 0.4f, 1f));
|
||||
#else
|
||||
var emission = particles.emission;
|
||||
emission.rateOverTime = new ParticleSystem.MinMaxCurve(emissionRate);
|
||||
|
||||
var main = particles.main;
|
||||
main.startColor = new Color (particles.main.startColor.color.r, particles.main.startColor.color.g, particles.main.startColor.color.b, Mathf.Clamp(inputMag, 0.4f, 1f));
|
||||
#endif
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,10 @@
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||||
fileFormatVersion: 2
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guid: e1a69cb78a14c451884988d32da4a529
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
Reference in New Issue
Block a user