Netcode Bootstrap

2026-05-31 14:27:52 -07:00
parent 99d8d2d2a9
commit 7fa77ce821
1813 changed files with 2921554 additions and 84 deletions
@@ -0,0 +1,188 @@
+using Rukhanka.Toolbox;
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Entities;
+using Unity.Mathematics;
+using Unity.Transforms;
+using Unity.Collections.LowLevel.Unsafe;
+
+/////////////////////////////////////////////////////////////////////////////////
+
+namespace Rukhanka
+{
+    
+[UpdateInGroup(typeof(RukhankaAnimationInjectionSystemGroup))]
+[UpdateAfter(typeof(AimIKSystem))]
+[UpdateAfter(typeof(FABRIKSystem))]
+public partial struct TwoBoneIKSystem: ISystem
+{
+    [BurstCompile]
+    partial struct TwoBoneIKJob : IJobEntity
+    {
+        [ReadOnly]
+        public ComponentLookup<RigDefinitionComponent> rigDefLookup;
+        [ReadOnly]
+        public ComponentLookup<AnimatorEntityRefComponent> animatorEntityRefLookup;
+        [ReadOnly]
+        public ComponentLookup<LocalTransform> localTransformLookup;
+        [ReadOnly]
+        public ComponentLookup<Parent> parentLookup;
+        
+        [NativeDisableContainerSafetyRestriction]
+        public RuntimeAnimationData runtimeData;
+    
+/////////////////////////////////////////////////////////////////////////////////
+
+        void Execute(TwoBoneIKComponent ikc, in AnimatorEntityRefComponent aer)
+        {
+            if (ikc.weight == 0)
+                return;
+            
+            var rigDef = rigDefLookup[aer.animatorEntity];
+            using var animStream = AnimationStream.Create(runtimeData, rigDef);
+
+            var targetEntityRigRootRelativePose = IKCommon.GetRigRelativeEntityPose
+            (
+                ikc.target,
+                aer.animatorEntity,
+                animStream.GetWorldPose(0),
+                runtimeData,
+                localTransformLookup,
+                parentLookup,
+                animatorEntityRefLookup,
+                rigDefLookup
+            );
+
+            var midEntityRef = animatorEntityRefLookup[ikc.mid];
+            var tipEntityRef = animatorEntityRefLookup[ikc.tip];
+
+            var rootWorldPose = animStream.GetWorldPose(aer.boneIndexInAnimationRig);
+            var midWorldPose = animStream.GetWorldPose(midEntityRef.boneIndexInAnimationRig);
+            var tipWorldPose = animStream.GetWorldPose(tipEntityRef.boneIndexInAnimationRig);
+            var targetWorldPos = math.lerp(tipWorldPose.pos, targetEntityRigRootRelativePose.pos, ikc.weight);
+            var initialTipRotation = tipWorldPose.rot;
+
+            var rootToMidVec = midWorldPose.pos - rootWorldPose.pos;
+            var rootToMidVecLen = math.length(rootToMidVec);
+            var midToTipVec = tipWorldPose.pos - midWorldPose.pos;
+            var midToTipVecLen = math.length(midToTipVec);
+            var rootToTipVec = tipWorldPose.pos - rootWorldPose.pos;
+            var rootToTipVecLen = math.length(rootToTipVec);
+            var rootToTargetVec = targetWorldPos - rootWorldPose.pos;
+            var rootToTargetVecLen = math.length(rootToTargetVec);
+            
+            var curBendAngle = GetAngleFromCosineLaw(rootToMidVecLen, midToTipVecLen, rootToTipVecLen);
+            var targetBendAngle = GetAngleFromCosineLaw(rootToMidVecLen, midToTipVecLen, rootToTargetVecLen);
+
+            var bendAxis = math.cross(rootToMidVec, midToTipVec);
+            
+            var bendAxisLenSqr = math.lengthsq(bendAxis);
+            if (bendAxisLenSqr < math.EPSILON)
+            {
+                bendAxis = math.cross(rootToTargetVec, midToTipVec);
+                bendAxisLenSqr = math.lengthsq(bendAxis);
+                if (bendAxisLenSqr <= math.EPSILON)
+                    bendAxis = math.up();
+            }
+
+            bendAxis = math.normalize(bendAxis);
+            var deltaAngle = curBendAngle - targetBendAngle;
+            var midRotDelta = quaternion.AxisAngle(bendAxis, deltaAngle);
+            var midRot = math.mul(midRotDelta, midWorldPose.rot);
+            midRot = math.normalize(midRot);
+            animStream.SetWorldRotation(midEntityRef.boneIndexInAnimationRig, midRot);
+
+            tipWorldPose = animStream.GetWorldPose(tipEntityRef.boneIndexInAnimationRig);
+            var updatedRootToTipVec = tipWorldPose.pos - rootWorldPose.pos;
+            var rootRotDelta = MathUtils.FromToRotation(updatedRootToTipVec, rootToTargetVec);
+            var rootRot = math.mul(rootRotDelta, rootWorldPose.rot);
+            animStream.SetWorldRotation(aer.boneIndexInAnimationRig, rootRot);
+            
+            float rootToTipLenSqr = math.lengthsq(rootToTipVec);
+            if (ikc.midBentHint != Entity.Null && rootToTipLenSqr > 0)
+            {
+                var hintRigRelativePose = IKCommon.GetRigRelativeEntityPose
+                (
+                    ikc.midBentHint,
+                    aer.animatorEntity,
+                    animStream.GetWorldPose(0),
+                    runtimeData,
+                    localTransformLookup,
+                    parentLookup,
+                    animatorEntityRefLookup,
+                    rigDefLookup
+                );
+            
+                var tipPose = animStream.GetWorldPose(tipEntityRef.boneIndexInAnimationRig);
+                var midPose = animStream.GetWorldPose(midEntityRef.boneIndexInAnimationRig);
+                rootToMidVec = midPose.pos - rootWorldPose.pos;
+                rootToTipVec = tipPose.pos - rootWorldPose.pos;
+
+                var rootToTipVecNormalized = math.normalize(rootToTipVec);
+                var rootToHintVec = hintRigRelativePose.pos - rootWorldPose.pos;
+                var p0 = rootToMidVec - rootToTipVecNormalized * math.dot(rootToMidVec, rootToTipVecNormalized);
+                var p1 = rootToHintVec - rootToTipVecNormalized * math.dot(rootToHintVec, rootToTipVecNormalized);
+
+                float jointMaxLen = rootToMidVecLen + midToTipVecLen;
+                var p0LenSqr = math.lengthsq(p0);
+                var p1LenSqr = math.lengthsq(p1);
+                var maxProjLen = jointMaxLen * jointMaxLen;
+                if (p0LenSqr > maxProjLen * 0.001f && p1LenSqr > 0)
+                {
+                    var hintRotation = MathUtils.FromToRotation(p0, p1);
+                    rootWorldPose = animStream.GetWorldPose(aer.boneIndexInAnimationRig);
+                    animStream.SetWorldRotation(aer.boneIndexInAnimationRig, math.mul(hintRotation, rootWorldPose.rot));
+                }
+            }
+            
+            var finalTipRot = math.slerp(initialTipRotation, targetEntityRigRootRelativePose.rot, ikc.weight);
+            animStream.SetWorldRotation(tipEntityRef.boneIndexInAnimationRig, finalTipRot);
+        }
+        
+/////////////////////////////////////////////////////////////////////////////////
+
+        float GetAngleFromCosineLaw(float aLen, float bLen, float cLen)
+        {
+            var cosC = (aLen * aLen + bLen * bLen - cLen * cLen) / (aLen * bLen) * 0.5f;
+            cosC = math.clamp(cosC, -1.0f, 1.0f);
+            var rv = math.acos(cosC);
+            return rv;
+        }
+    }
+
+//==============================================================================//
+
+    [BurstCompile]
+    public void OnCreate(ref SystemState ss)
+    {
+        var q = SystemAPI.QueryBuilder()
+            .WithAll<TwoBoneIKComponent, AnimatorEntityRefComponent>()
+            .Build();
+        
+        ss.RequireForUpdate(q);
+    }
+
+/////////////////////////////////////////////////////////////////////////////////
+
+    [BurstCompile]
+    public void OnUpdate(ref SystemState ss)
+    {
+        var rigDefLookup = SystemAPI.GetComponentLookup<RigDefinitionComponent>(true);
+        var localTransformLookup = SystemAPI.GetComponentLookup<LocalTransform>(true);
+        var parentLookup = SystemAPI.GetComponentLookup<Parent>(true);
+        var animatorEntityRefLookup = SystemAPI.GetComponentLookup<AnimatorEntityRefComponent>(true);
+        ref var runtimeData = ref SystemAPI.GetSingletonRW<RuntimeAnimationData>().ValueRW;
+
+        var ikJob = new TwoBoneIKJob()
+        {
+            rigDefLookup = rigDefLookup,
+            runtimeData = runtimeData,
+            localTransformLookup = localTransformLookup,
+            animatorEntityRefLookup = animatorEntityRefLookup,
+            parentLookup = parentLookup
+        };
+
+        ikJob.ScheduleParallel();
+    }
+}
+}