Insect rig improvements

CreatureControl/Editor/Scripts/Insect/Insect_Editor.cs

@@ -10,13 +10,15 @@ namespace CreatureControl {
         protected Insect insect;
 
         public override void OnEnable() {
-            base.OnEnable();
 
             insect = target as Insect;
 
-            //bool anythingChanged = false;
+            bool anythingChanged = false;
+
+            anythingChanged |= insect.CheckTargetRig();
+
+            base.OnEnable();
 
-            //anythingChanged |= insect.CheckTargetRig("InsectRig");
             // We already do this in Creature_Editor...
             //this.creature.targetRig.MatchTo(this.creature, ref anythingChanged);
             //insect.insectRig.MatchTo(insect, ref anythingChanged);
@@ -64,10 +66,10 @@ namespace CreatureControl {
             // }
             */
 
-            // if (anythingChanged) {
+            if (anythingChanged) {
-            //     EditorUtility.SetDirty(creature);
+                EditorUtility.SetDirty(creature);
-            //     AssetDatabase.SaveAssets();
+                AssetDatabase.SaveAssets();
-            // }
+            }
         }
 
         static void CollectFromStateMachine(AnimatorStateMachine sm, List<AnimationClip> outList) {
@@ -111,6 +113,9 @@ namespace CreatureControl {
 
         static bool showTargets;
         private void TargetsInspector() {
+            if (insect.insectRig == null)
+                return;
+
             bool configurationIncomplete = false;
             if (!insect.leftFrontLeg.isConfigured ||
                 !insect.leftMiddleLeg.isConfigured ||
@@ -153,9 +158,11 @@ namespace CreatureControl {
                 if (somethingChanged) {
                     Debug.Log("seomthin has changed");
                     // don't know if this apply/update is really needed....
-                    serializedObject.ApplyModifiedProperties();
-                    insect.insectRig.MatchTo(insect, ref somethingChanged);
                     serializedObject.Update();
+                    // serializedObject.ApplyModifiedProperties();
+                    insect.insectRig.MatchTo(insect, ref somethingChanged);
+                    EditorUtility.SetDirty(this.insect);
+                    AssetDatabase.SaveAssets();
                 }
             }
         }

CreatureControl/Editor/Scripts/Leg_Editor.cs

@@ -8,7 +8,7 @@ namespace CreatureControl {
         private static bool showfield = false;
 
         public static bool Inspector(SerializedProperty legProp, TargetLeg targetLeg, Leg leg) {
-            bool anythingChanged = false;
+            bool somethingChanged = false;
 
             GUIStyle foldoutStyle = new(EditorStyles.foldout) {
                 margin = EditorStyles.objectField.margin
@@ -17,28 +17,49 @@ namespace CreatureControl {
             EditorGUILayout.BeginHorizontal();
             string legName = ConvertCamelCase(legProp.name);
             showfield = EditorGUILayout.Foldout(showfield, legName, true, foldoutStyle);
-            SerializedProperty femurProp = legProp.FindPropertyRelative("_femur");//nameof(Leg._femur));
+            bool femurChanged = FemurInspector(leg);
-            SerializedProperty tibiaProp = legProp.FindPropertyRelative("_tibia"); //nameof(Leg._tibia));
+            if (femurChanged) {
-            SerializedProperty tarsusProp = legProp.FindPropertyRelative("_tarsus"); //nameof(Leg._tarsus));
+                Debug.Log("Check");
-
+                leg.DetectBones(leg.femur);
-            Transform newFemur = (Transform)EditorGUILayout.ObjectField(femurProp.objectReferenceValue, typeof(Transform), true);
-            if (newFemur != femurProp.objectReferenceValue) {
-                leg.DetectBones(newFemur);
-                anythingChanged = true;
             }
+            somethingChanged |= femurChanged;
             EditorGUILayout.EndHorizontal();
 
-            if (femurProp.objectReferenceValue != null && tibiaProp.objectReferenceValue == null)
+            if (leg.femur != null && leg.tibia == null)
                 showfield = true;
 
             if (showfield) {
                 EditorGUI.indentLevel++;
-                tibiaProp.objectReferenceValue = (Transform)EditorGUILayout.ObjectField("Lower Leg", tibiaProp.objectReferenceValue, typeof(Transform), true);
+                somethingChanged |= TibiaInspector(leg);
-                tarsusProp.objectReferenceValue = (Transform)EditorGUILayout.ObjectField("Foot", tarsusProp.objectReferenceValue, typeof(Transform), true);
+                somethingChanged |= TarsusInspector(leg);
-                // Need to check if anythingChanged and update the projection if it did
+                somethingChanged |= PhalangesInspector(leg);
                 EditorGUI.indentLevel--;
             }
-            return anythingChanged;
+            return somethingChanged;
+        }
+
+        protected static bool FemurInspector(Leg leg) {
+            Transform oldFemur = leg.femur;
+            leg.femur = (Transform)EditorGUILayout.ObjectField(leg.femur, typeof(Transform), true);
+            return leg.femur != oldFemur;
+        }
+
+        protected static bool TibiaInspector(Leg leg) {
+            Transform oldTibia = leg.tibia;
+            leg.tibia = (Transform)EditorGUILayout.ObjectField("Lower leg", leg.tibia, typeof(Transform), true);
+            return leg.tibia != oldTibia;
+        }
+
+        protected static bool TarsusInspector(Leg leg) {
+            Transform oldTarsus = leg.tarsus;
+            leg.tarsus = (Transform)EditorGUILayout.ObjectField("Foot", leg.tarsus, typeof(Transform), true);
+            return leg.tarsus != oldTarsus;
+        }
+
+        protected static bool PhalangesInspector(Leg leg) {
+            Transform oldPhalanges = leg.phalanges;
+            leg.phalanges = (Transform)EditorGUILayout.ObjectField("Toes", leg.phalanges, typeof(Transform), true);
+            return leg.phalanges != oldPhalanges;
         }
 
         private static string ConvertCamelCase(string text) {

CreatureControl/Runtime/Scripts/Creature.cs

@@ -159,6 +159,9 @@ namespace CreatureControl {
         /// Update the bones of the creature's rig from the target rig pose
         /// </summary>
         public virtual void UpdateModel() {
+            if (this.model == null)
+                return;
+                
             Vector3 newPosition = this.targetRig.transform.position + this.targetToModelTranslation;
             Quaternion newOrientation = this.targetRig.transform.rotation * this.targetToModelRotation;
             this.model.SetPositionAndRotation(newPosition, newOrientation);

CreatureControl/Runtime/Scripts/Insect/Insect.cs

@@ -45,6 +45,9 @@ namespace CreatureControl {
         public override void UpdateModel() {
             base.UpdateModel();
 
+            if (this.insectRig == null)
+                return;
+
             if (this.insectRig.leftFrontLeg != null)
                 this.insectRig.leftFrontLeg.UpdateBones(this.leftFrontLeg);
             if (this.insectRig.leftMiddleLeg != null)

CreatureControl/Runtime/Scripts/Leg.cs

@@ -21,6 +21,7 @@ namespace CreatureControl {
             }
         }
 
+        public readonly static string nameOfFemur = nameof(_femur);
         [SerializeField]
         private Transform _femur;
         /// <summary>
@@ -34,6 +35,7 @@ namespace CreatureControl {
             }
         }
 
+        public readonly static string nameOfTibia = nameof(_tibia);
         [SerializeField]
         private Transform _tibia;
         /// <summary>
@@ -48,6 +50,7 @@ namespace CreatureControl {
             }
         }
 
+        public readonly static string nameOfTarsus = nameof(_tarsus);
         [SerializeField]
         private Transform _tarsus;
         /// <summary>
@@ -62,6 +65,7 @@ namespace CreatureControl {
             }
         }
 
+        public readonly static string nameOfPhalanges = nameof(_phalanges);
         [SerializeField]
         private Transform _phalanges;
         /// <summary>
@@ -169,7 +173,6 @@ namespace CreatureControl {
         public void DetectBones(Transform root) {
             if (root == null)
                 return;
-            coxa = femur = tibia = tarsus = phalanges = end = null;
 
             // gather a straight chain following single-child links
             List<Transform> chain = new();
@@ -180,40 +183,39 @@ namespace CreatureControl {
                 chain.Add(current);
             }
 
-            // the detected end bone is the last element in the collected chain
-            end = chain[^1];
-
-            // map chain length to bone roles according to rules:
-            // 1 => femur
-            // 2 => femur, tibia
-            // 3 => femur, tibia, tarsus
-            // 4 => femur, tibia, tarsus, phalanges
-            // 5+ => coxa, femur, tibia, tarsus, phalanges (first 5)
             int count = chain.Count;
+            if (count <= 1)
+                // With one bone (and no end bone) it is not possible to compute the IK
+                return;
+
+            // the detected end bone is the last element in the collected chain
+            // this.end = chain[^1];
+            // count--;
+
             if (count == 1)
-                femur = chain[0];
+                this.femur = chain[0];
             else if (count == 2) {
-                femur = chain[0];
+                this.femur = chain[0];
-                tibia = chain[1];
+                this.tibia = chain[1];
             }
             else if (count == 3) {
-                femur = chain[0];
+                this.femur = chain[0];
-                tibia = chain[1];
+                this.tibia = chain[1];
-                tarsus = chain[2];
+                this.tarsus = chain[2];
             }
             else if (count == 4) {
-                femur = chain[0];
+                this.femur = chain[0];
-                tibia = chain[1];
+                this.tibia = chain[1];
-                tarsus = chain[2];
+                this.tarsus = chain[2];
-                phalanges = chain[3];
+                this.phalanges = chain[3];
             }
             else // count >= 5
             {
-                coxa = chain[0];
+                this.coxa = chain[0];
-                femur = chain[1];
+                this.femur = chain[1];
-                tibia = chain[2];
+                this.tibia = chain[2];
-                tarsus = chain[3];
+                this.tarsus = chain[3];
-                phalanges = chain[4];
+                this.phalanges = chain[4];
             }
         }
 
@@ -226,9 +228,9 @@ namespace CreatureControl {
         public bool isConfigured =>
             this.femur != null &&
             this.tibia != null &&
-            this.tarsus != null &&
+            this.tarsus != null;
-            this.phalanges != null &&
+            // && this.phalanges != null
-            this.end != null;
+            // && this.end != null;
 
         public Side side;
         public bool isLeft => side == Side.Left;

CreatureControl/Runtime/Scripts/TargetRig.cs

@@ -27,6 +27,9 @@ namespace CreatureControl {
         /// <param name="creature">The creature to align to</param>
         /// <param name="anythingChanged">True when any property of the creature has changed</param>
         public virtual void MatchTo(Creature creature, ref bool anythingChanged) {
+            if (creature == null || creature.model == null)
+                return;
+
             Vector3 targetToModelTranslation = creature.model.position - this.transform.position;
             bool changed = targetToModelTranslation != creature.targetToModelTranslation;
             if (changed) {

NanoBrain/Editor/ClusterViewer.cs

@@ -99,6 +99,8 @@ namespace NanoBrain {
 
             public void SetGraph(GameObject gameObject) {
                 this.gameObject = gameObject;
+                if (this.currentCluster == null)
+                    return;
                     
                 if (Application.isPlaying == false)
                     this.serializedBrain = new SerializedObject(this.currentCluster.prefab);
@@ -121,7 +123,7 @@ namespace NanoBrain {
             }
 
             public void OnIMGUI() {
-                if (Application.isPlaying == false)
+                if (Application.isPlaying == false && serializedBrain != null)
                     serializedBrain.Update();
 
                 Handles.BeginGUI();

Runtime/Resources/InsectTargetRig.prefab

@@ -78,10 +78,17 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   bones:
-    femur: {fileID: 2087731612450819825}
+    _coxa: {fileID: 0}
-    tibia: {fileID: 7566832081299524197}
+    _femur: {fileID: 2087731612450819825}
-    tarsus: {fileID: 7011186323915432702}
+    _tibia: {fileID: 7566832081299524197}
+    _tarsus: {fileID: 7011186323915432702}
+    _phalanges: {fileID: 0}
+    _end: {fileID: 0}
     _femurLength: 0.004816547
+    _tibiaLength: 0.008353032
+    _tarsusLength: 0
+    _phalangesLength: 0
+    side: 0
   target: {fileID: 8947192729555298471}
   targetToBoneFemur: {x: 0, y: 0, z: 0, w: 0}
   targetToBoneTibia: {x: 0, y: 0, z: 0, w: 0}
@@ -144,7 +151,7 @@ MonoBehaviour:
   rightMiddleLeg: {fileID: 4196034226083389076}
   rightBackLeg: {fileID: 8323677930838830493}
   render: 1
-  legLength: 0.009770508
+  legLength: 0.0031432603
 --- !u!95 &5843436816833865534
 Animator:
   serializedVersion: 5
@@ -190,7 +197,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 816003872898039836}
   serializedVersion: 2
-  m_LocalRotation: {x: -0.47292894, y: 0.17234407, z: 0.038568486, w: -0.86321974}
+  m_LocalRotation: {x: -0.47292906, y: 0.17234407, z: 0.038568486, w: -0.8632196}
   m_LocalPosition: {x: 0, y: 0, z: 0.008212241}
   m_LocalScale: {x: 0.9999999, y: 0.9999999, z: 0.9999999}
   m_ConstrainProportionsScale: 0
@@ -243,10 +250,17 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   bones:
-    femur: {fileID: 976560727556484423}
+    _coxa: {fileID: 0}
-    tibia: {fileID: 3873135409852464941}
+    _femur: {fileID: 976560727556484423}
-    tarsus: {fileID: 3355004770557811387}
+    _tibia: {fileID: 3873135409852464941}
+    _tarsus: {fileID: 3355004770557811387}
+    _phalanges: {fileID: 0}
+    _end: {fileID: 0}
     _femurLength: 0.003806679
+    _tibiaLength: 0.0060429377
+    _tarsusLength: 0
+    _phalangesLength: 0
+    side: 0
   target: {fileID: 2041764967651498327}
   targetToBoneFemur: {x: 0, y: 0, z: 0, w: 0}
   targetToBoneTibia: {x: 0, y: 0, z: 0, w: 0}
@@ -511,10 +525,17 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   bones:
-    femur: {fileID: 7879963364189984297}
+    _coxa: {fileID: 0}
-    tibia: {fileID: 8557148899078362646}
+    _femur: {fileID: 7879963364189984297}
-    tarsus: {fileID: 2520372565419969361}
+    _tibia: {fileID: 8557148899078362646}
+    _tarsus: {fileID: 2520372565419969361}
+    _phalanges: {fileID: 0}
+    _end: {fileID: 0}
     _femurLength: 0.006008031
+    _tibiaLength: 0.008482452
+    _tarsusLength: 0
+    _phalangesLength: 0
+    side: 0
   target: {fileID: 5692380185316106944}
   targetToBoneFemur: {x: 0, y: 0, z: 0, w: 0}
   targetToBoneTibia: {x: 0, y: 0, z: 0, w: 0}
@@ -1175,7 +1196,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 5930454242050132924}
   serializedVersion: 2
-  m_LocalRotation: {x: 0.07720134, y: 0.9225222, z: 0.25537333, w: -0.27888584}
+  m_LocalRotation: {x: 0.07720129, y: 0.92252225, z: 0.25537315, w: -0.27888587}
   m_LocalPosition: {x: -0.002, y: 0.004, z: -0.006}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
@@ -1196,10 +1217,17 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   bones:
-    femur: {fileID: 1138231466888029713}
+    _coxa: {fileID: 0}
-    tibia: {fileID: 6229249450306020558}
+    _femur: {fileID: 1138231466888029713}
-    tarsus: {fileID: 3473835942814004862}
+    _tibia: {fileID: 6229249450306020558}
+    _tarsus: {fileID: 3473835942814004862}
+    _phalanges: {fileID: 0}
+    _end: {fileID: 0}
     _femurLength: 0.0031432603
+    _tibiaLength: 0.008212241
+    _tarsusLength: 0
+    _phalangesLength: 0
+    side: 0
   target: {fileID: 2714894253296331867}
   targetToBoneFemur: {x: 0, y: 0, z: 0, w: 0}
   targetToBoneTibia: {x: 0, y: 0, z: 0, w: 0}
@@ -1313,10 +1341,17 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   bones:
-    femur: {fileID: 5158943779127512027}
+    _coxa: {fileID: 0}
-    tibia: {fileID: 5102382635668602733}
+    _femur: {fileID: 5158943779127512027}
-    tarsus: {fileID: 5832494694235077857}
+    _tibia: {fileID: 5102382635668602733}
+    _tarsus: {fileID: 5832494694235077857}
+    _phalanges: {fileID: 0}
+    _end: {fileID: 0}
     _femurLength: 0.004816545
+    _tibiaLength: 0.008259119
+    _tarsusLength: 0
+    _phalangesLength: 0
+    side: 0
   target: {fileID: 8660658904332009209}
   targetToBoneFemur: {x: 0, y: 0, z: 0, w: 0}
   targetToBoneTibia: {x: 0, y: 0, z: 0, w: 0}
@@ -1722,7 +1757,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 8534431202702769095}
   serializedVersion: 2
-  m_LocalRotation: {x: 0.6024823, y: 0.00000008940697, z: 0.000000052154064, w: 0.79813224}
+  m_LocalRotation: {x: 0.6024822, y: 0.000000074505806, z: 0.000000044703484, w: 0.7981324}
   m_LocalPosition: {x: 0, y: 0, z: 0.00314326}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
@@ -1881,10 +1916,17 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   bones:
-    femur: {fileID: 7827425323228862897}
+    _coxa: {fileID: 0}
-    tibia: {fileID: 8607306932134183899}
+    _femur: {fileID: 7827425323228862897}
-    tarsus: {fileID: 5350519918537018444}
+    _tibia: {fileID: 8607306932134183899}
+    _tarsus: {fileID: 5350519918537018444}
+    _phalanges: {fileID: 0}
+    _end: {fileID: 0}
     _femurLength: 0.00380668
+    _tibiaLength: 0.005963828
+    _tarsusLength: 0
+    _phalangesLength: 0
+    side: 0
   target: {fileID: 5063380583403966759}
   targetToBoneFemur: {x: 0, y: 0, z: 0, w: 0}
   targetToBoneTibia: {x: 0, y: 0, z: 0, w: 0}

Samples/Prefabs/LowPolyAntRigged Variant.prefab.meta

@@ -0,0 +1,7 @@
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Samples/Prefabs/LowPolyAntRigged.prefab

@@ -0,0 +1,59 @@
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