Luis Gonzalez
121 lines
4.6 KiB
C#
121 lines
4.6 KiB
C#
using Unity.Burst;
|
|
using Unity.Entities;
|
|
using Unity.Mathematics;
|
|
using Unity.Transforms;
|
|
using Unity.Collections;
|
|
using Unity.Collections.LowLevel.Unsafe;
|
|
using UnityEngine;
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////
|
|
|
|
namespace Rukhanka
|
|
{
|
|
|
|
[UpdateInGroup(typeof(RukhankaAnimationInjectionSystemGroup))]
|
|
public partial struct AimIKSystem: ISystem
|
|
{
|
|
[BurstCompile]
|
|
partial struct AimIKJob : IJobEntity
|
|
{
|
|
[ReadOnly]
|
|
public ComponentLookup<RigDefinitionComponent> rigDefLookup;
|
|
[ReadOnly]
|
|
public ComponentLookup<LocalTransform> localTransformLookup;
|
|
[ReadOnly]
|
|
public ComponentLookup<Parent> parentLookup;
|
|
[ReadOnly]
|
|
public ComponentLookup<AnimatorEntityRefComponent> boneEntityRefLookup;
|
|
|
|
[NativeDisableContainerSafetyRestriction]
|
|
public RuntimeAnimationData runtimeData;
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////
|
|
|
|
void Execute(AimIKComponent aik, in AnimatorEntityRefComponent aer, in DynamicBuffer<AimIKAffectedBoneComponent> aimedBones)
|
|
{
|
|
if (aik.weight < math.EPSILON)
|
|
return;
|
|
|
|
var rigDef = rigDefLookup[aer.animatorEntity];
|
|
using var animStream = AnimationStream.Create(runtimeData, rigDef);
|
|
|
|
var targetEntityRigRelativePose = IKCommon.GetRigRelativeEntityPose
|
|
(
|
|
aik.target,
|
|
aer.animatorEntity,
|
|
animStream.GetWorldPose(0),
|
|
runtimeData,
|
|
localTransformLookup,
|
|
parentLookup,
|
|
boneEntityRefLookup,
|
|
rigDefLookup
|
|
);
|
|
|
|
for (var i = 0; i < aimedBones.Length; ++i)
|
|
{
|
|
var aimedBone = aimedBones[i];
|
|
if (!boneEntityRefLookup.TryGetComponent(aimedBone.boneEntity, out var aimedBoneEntity))
|
|
{
|
|
#if RUKHANKA_DEBUG_INFO
|
|
Debug.LogWarning($"Aimed entity '{aimedBone.boneEntity}' does not have AnimatorEntityRefComponent.");
|
|
#endif
|
|
continue;
|
|
}
|
|
|
|
var ikBoneWorldPose = animStream.GetWorldPose(aimedBoneEntity.boneIndexInAnimationRig);
|
|
var toTargetDir = math.normalize(targetEntityRigRelativePose.pos - ikBoneWorldPose.pos);
|
|
var originalForward = math.rotate(ikBoneWorldPose.rot, aik.forwardVector);
|
|
var acos = math.dot(toTargetDir, originalForward);
|
|
if (math.abs(acos) < 0.99999f)
|
|
{
|
|
var crossDir = math.normalize(math.cross(originalForward, toTargetDir));
|
|
var angle = math.acos(acos);
|
|
angle = math.clamp(angle, aik.angleLimits.x, aik.angleLimits.y);
|
|
var correctedRot = quaternion.AxisAngle(crossDir, angle);
|
|
var compositeWeight = aik.weight * aimedBone.weight;
|
|
correctedRot = math.slerp(quaternion.identity, correctedRot, compositeWeight);
|
|
|
|
ikBoneWorldPose.rot = math.mul(correctedRot, ikBoneWorldPose.rot);
|
|
animStream.SetWorldPose(aimedBoneEntity.boneIndexInAnimationRig, ikBoneWorldPose);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////
|
|
|
|
[BurstCompile]
|
|
public void OnCreate(ref SystemState ss)
|
|
{
|
|
var q = SystemAPI.QueryBuilder()
|
|
.WithAll<AimIKComponent, AnimatorEntityRefComponent, AimIKAffectedBoneComponent>()
|
|
.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 aerLookup = SystemAPI.GetComponentLookup<AnimatorEntityRefComponent>(true);
|
|
ref var runtimeData = ref SystemAPI.GetSingletonRW<RuntimeAnimationData>().ValueRW;
|
|
|
|
var ikJob = new AimIKJob()
|
|
{
|
|
rigDefLookup = rigDefLookup,
|
|
runtimeData = runtimeData,
|
|
localTransformLookup = localTransformLookup,
|
|
parentLookup = parentLookup,
|
|
boneEntityRefLookup = aerLookup
|
|
};
|
|
|
|
ikJob.ScheduleParallel();
|
|
}
|
|
}
|
|
}
|