NanoBrain/NanoBrain-unitypackage
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Fixed issues with inverse root motion

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This commit is contained in:
Pascal Serrarens 2026-04-13 16:39:32 +02:00
parent b71115d823
commit 7c1061ade5
9 changed files with 378 additions and 554 deletions
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16
CreatureControl/Editor/Scripts/CreatureAnimator_Editor.cs
View File

@ -20,21 +20,6 @@ namespace CreatureControl {
ComputeRootVelocities(animator);
// showRootVelocities = EditorGUILayout.Foldout(showRootVelocities, "Root Velocities", true);
// if (showRootVelocities) {
// EditorGUI.indentLevel++;
// foreach (CreatureAnimator.RootMotion rm in animator.rootVelocities) {
// //foreach (KeyValuePair<string, CreatureAnimator.RootMotion> kvp in animator.rootVelocities) {
// EditorGUILayout.LabelField(rm.animationClipName);
// EditorGUI.indentLevel++;
// EditorGUILayout.Vector3Field("Linear Velocity", rm.linearVelocity);
// EditorGUILayout.Vector3Field("Angular Velocity", rm.angularVelocity);
// EditorGUI.indentLevel--;
// }
// EditorGUI.indentLevel--;
// }
EditorUtility.SetDirty(animator);
serializedObject.ApplyModifiedProperties();
}
@ -56,6 +41,7 @@ namespace CreatureControl {
}
clipIx++;
}
animator.CalculateRootMotionScale();
}
}

56
CreatureControl/Runtime/Scripts/CreatureAnimator.cs
View File

@ -1,6 +1,7 @@
using System.Collections.Generic;
using UnityEngine;
using UnityEditor.Animations;
using LinearAlgebra;
namespace CreatureControl {
@ -28,14 +29,46 @@ namespace CreatureControl {
}
//public Dictionary<string, RootMotion> rootVelocities = new();
public List<RootMotion> rootVelocities = new();
public RootMotion GetRootMotion(string name) {
public RootMotion GetRootMotion(string name) {
return this.rootVelocities.Find(rm => rm.clipName == name);
}
public Dictionary<Vector3, string> animationDirections = new();
public float rootMotionScaleForward = 1;
public float rootMotionScaleRight = 1;
public float rootMotionScaleRotate = 1;
public void CalculateRootMotionScale() {
this.rootMotionScaleForward = 0;
this.rootMotionScaleRight = 0;
this.rootMotionScaleRotate = 0;
// We may want to check for consistency:
// rm scale for an axis should be the same for all animations
foreach (RootMotion rootVelocity in this.rootVelocities) {
if (IsDirectionCloseTo(Vector3.forward, rootVelocity.linearVelocity)) {
if (rootVelocity.linearVelocity.z > 0)
this.rootMotionScaleForward = rootVelocity.linearVelocity.z;
}
else if (IsDirectionCloseTo(Vector3.right, rootVelocity.linearVelocity)) {
if (rootVelocity.linearVelocity.x > 0)
this.rootMotionScaleRight = rootVelocity.linearVelocity.x;
}
else if (IsDirectionCloseTo(Vector3.up, rootVelocity.angularVelocity)) {
if (rootVelocity.angularVelocity.y > 0)
this.rootMotionScaleRotate = rootVelocity.angularVelocity.y;
}
}
}
protected virtual void Awake() {
private bool IsDirectionCloseTo(Vector3 direction, Vector3 vector, float threshold = 0.9f) {
if (vector.sqrMagnitude == 0)
return false;
// Normalize the target vector to ensure comparisons are based on direction
Vector3 normalizedTarget = vector.normalized;
return Vector3.Dot(normalizedTarget, direction) > threshold;
}
protected virtual void Start() {
this.creature = GetComponent<Creature>();
this.animator = creature.animator; // GetComponent<Animator>();
@ -44,13 +77,9 @@ namespace CreatureControl {
protected virtual void Update() {
if (rootMotionMode == RootMotionMode.Inverse) {
Vector3 speed = new(0, 0, 0.024f);
this.transform.localPosition += speed * Time.deltaTime; //0.0048f * Time.deltaTime * this.transform.forward;
InverseRootMotionUpdate();
}
else {
this.animator.SetFloat("Forward", 1f);
// Ensure that the pose of the model matches the target rig
this.creature.targetRig.transform.GetPositionAndRotation(out Vector3 targetRigPosition, out Quaternion targetRigOrientation);
this.creature.transform.SetPositionAndRotation(targetRigPosition, targetRigOrientation);
this.creature.targetRig.transform.SetPositionAndRotation(targetRigPosition, targetRigOrientation);
@ -58,19 +87,26 @@ namespace CreatureControl {
}
private Vector3 lastPosition;
private Quaternion lastOrientation;
protected void InverseRootMotionUpdate() {
if (lastPosition.sqrMagnitude > 0) {
Vector3 translation = this.transform.position - lastPosition;
Vector3 worldVelocity = translation / Time.deltaTime;
Vector3 localVelocity = transform.InverseTransformDirection(worldVelocity);
RootMotion rootMotion = this.GetRootMotion("AntWalkForward");
Vector3 animationVelocity = rootMotion.linearVelocity; // rootVelocities["AntWalkForward"].linearVelocity;
float fwdAnimationSpeed = localVelocity.z / animationVelocity.z;
float fwdAnimationSpeed = localVelocity.z / rootMotionScaleForward;
this.animator.SetFloat("Forward", fwdAnimationSpeed);
float rightAnimationSpeed = localVelocity.x / rootMotionScaleRight;
this.animator.SetFloat("Right", rightAnimationSpeed);
Quaternion rotation = this.transform.rotation * Quaternion.Inverse(lastOrientation);
float rotationAngleY = Angles.Normalize(rotation.eulerAngles.y);
float rotationSpeed = rotationAngleY / Time.deltaTime;
float rotAnimationSpeed = rotationSpeed / rootMotionScaleRotate;
this.animator.SetFloat("Rotation", rotAnimationSpeed);
}
lastPosition = this.transform.position;
lastOrientation = this.transform.rotation;
}
void RetrieveBlendTreeAnimations(Animator animator, string parameterName, float targetValue) {

8
Samples/Animation/AntAnimator3.controller
View File

@ -32,7 +32,7 @@ BlendTree:
m_CycleOffset: 0
m_DirectBlendParameter: Forward
m_Mirror: 0
m_BlendParameter: Rotate
m_BlendParameter: Rotation
m_BlendParameterY: Forward
m_MinThreshold: -1
m_MaxThreshold: 1
@ -87,7 +87,7 @@ BlendTree:
m_CycleOffset: 0
m_DirectBlendParameter: Forward
m_Mirror: 0
m_BlendParameter: Strafe
m_BlendParameter: Right
m_BlendParameterY: Forward
m_MinThreshold: 0
m_MaxThreshold: 1
@ -124,13 +124,13 @@ AnimatorController:
m_DefaultInt: 0
m_DefaultBool: 0
m_Controller: {fileID: 9100000}
- m_Name: Rotate
- m_Name: Rotation
m_Type: 1
m_DefaultFloat: 0
m_DefaultInt: 0
m_DefaultBool: 0
m_Controller: {fileID: 9100000}
- m_Name: Strafe
- m_Name: Right
m_Type: 1
m_DefaultFloat: 0
m_DefaultInt: 0

28
Samples/Animation/AntIdle.anim
View File

@ -28,7 +28,7 @@ AnimationClip:
inWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 1.6666666
time: 0.26666668
value: {x: 0, y: 0, z: 0}
inSlope: {x: 0, y: 0, z: 0}
outSlope: {x: 0, y: 0, z: 0}
@ -53,7 +53,7 @@ AnimationClip:
inWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 1.6666666
time: 0.26666668
value: {x: 0, y: 0, z: 0}
inSlope: {x: 0, y: 0, z: 0}
outSlope: {x: 0, y: 0, z: 0}
@ -78,7 +78,7 @@ AnimationClip:
inWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 1.6666666
time: 0.26666668
value: {x: 0, y: 0, z: 0}
inSlope: {x: 0, y: 0, z: 0}
outSlope: {x: 0, y: 0, z: 0}
@ -93,7 +93,7 @@ AnimationClip:
m_ScaleCurves: []
m_FloatCurves: []
m_PPtrCurves: []
m_SampleRate: 24
m_SampleRate: 30
m_WrapMode: 0
m_Bounds:
m_Center: {x: 0, y: 0, z: 0}
@ -133,7 +133,7 @@ AnimationClip:
m_AdditiveReferencePoseClip: {fileID: 0}
m_AdditiveReferencePoseTime: 0
m_StartTime: 0
m_StopTime: 1.6666666
m_StopTime: 0.26666668
m_OrientationOffsetY: 0
m_Level: 0
m_CycleOffset: 0
@ -163,7 +163,7 @@ AnimationClip:
inWeight: 0.33333334
outWeight: 0.33333334
- serializedVersion: 3
time: 1.6666666
time: 0.26666668
value: 0
inSlope: 0
outSlope: 0
@ -193,7 +193,7 @@ AnimationClip:
inWeight: 0.33333334
outWeight: 0.33333334
- serializedVersion: 3
time: 1.6666666
time: 0.26666668
value: 0
inSlope: 0
outSlope: 0
@ -223,7 +223,7 @@ AnimationClip:
inWeight: 0.33333334
outWeight: 0.33333334
- serializedVersion: 3
time: 1.6666666
time: 0.26666668
value: 0
inSlope: 0
outSlope: 0
@ -253,7 +253,7 @@ AnimationClip:
inWeight: 0.33333334
outWeight: 0.33333334
- serializedVersion: 3
time: 1.6666666
time: 0.26666668
value: 0
inSlope: 0
outSlope: 0
@ -283,7 +283,7 @@ AnimationClip:
inWeight: 0.33333334
outWeight: 0.33333334
- serializedVersion: 3
time: 1.6666666
time: 0.26666668
value: 0
inSlope: 0
outSlope: 0
@ -313,7 +313,7 @@ AnimationClip:
inWeight: 0.33333334
outWeight: 0.33333334
- serializedVersion: 3
time: 1.6666666
time: 0.26666668
value: 0
inSlope: 0
outSlope: 0
@ -343,7 +343,7 @@ AnimationClip:
inWeight: 0.33333334
outWeight: 0.33333334
- serializedVersion: 3
time: 1.6666666
time: 0.26666668
value: 0
inSlope: 0
outSlope: 0
@ -373,7 +373,7 @@ AnimationClip:
inWeight: 0.33333334
outWeight: 0.33333334
- serializedVersion: 3
time: 1.6666666
time: 0.26666668
value: 0
inSlope: 0
outSlope: 0
@ -403,7 +403,7 @@ AnimationClip:
inWeight: 0.33333334
outWeight: 0.33333334
- serializedVersion: 3
time: 1.6666666
time: 0.26666668
value: 0
inSlope: 0
outSlope: 0

406
Samples/Animation/AntRotateLeft.anim
View File

@ -20,35 +20,35 @@ AnimationClip:
- serializedVersion: 3
time: 0
value: {x: 0, y: 0, z: 0}
inSlope: {x: 0, y: 67.5, z: 0}
outSlope: {x: 0, y: 67.5, z: 0}
tangentMode: 0
weightedMode: 0
inWeight: {x: 0, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 0.16666667
value: {x: 0, y: 11.25, z: 0}
inSlope: {x: 0, y: -0.0000038146973, z: 0}
outSlope: {x: 0, y: -0.0000038146973, z: 0}
tangentMode: 0
weightedMode: 0
inWeight: {x: 0, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 0.5
value: {x: 0, y: -11.25, z: 0}
inSlope: {x: 0, y: -0.0000076293945, z: 0}
outSlope: {x: 0, y: -0.0000076293945, z: 0}
inSlope: {x: 0, y: 168.74998, z: 0}
outSlope: {x: 0, y: 168.74998, z: 0}
tangentMode: 0
weightedMode: 0
inWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 0.6666667
time: 0.06666667
value: {x: 0, y: 11.25, z: 0}
inSlope: {x: 0, y: -0.000015258789, z: 0}
outSlope: {x: 0, y: -0.000015258789, z: 0}
tangentMode: 0
weightedMode: 0
inWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 0.2
value: {x: 0, y: -11.25, z: 0}
inSlope: {x: 0, y: -0.000022888184, z: 0}
outSlope: {x: 0, y: -0.000022888184, z: 0}
tangentMode: 0
weightedMode: 0
inWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 0.26666668
value: {x: 0, y: 0, z: 0}
inSlope: {x: 0, y: 67.49999, z: 0}
outSlope: {x: 0, y: 67.49999, z: 0}
inSlope: {x: 0, y: 168.74997, z: 0}
outSlope: {x: 0, y: 168.74997, z: 0}
tangentMode: 0
weightedMode: 0
inWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
@ -63,35 +63,35 @@ AnimationClip:
- serializedVersion: 3
time: 0
value: {x: 0, y: 0, z: 0}
inSlope: {x: 0, y: -67.5, z: 0}
outSlope: {x: 0, y: -67.5, z: 0}
tangentMode: 0
weightedMode: 0
inWeight: {x: 0, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 0.16666667
value: {x: 0, y: -11.25, z: 0}
inSlope: {x: 0, y: 0.0000038146973, z: 0}
outSlope: {x: 0, y: 0.0000038146973, z: 0}
tangentMode: 0
weightedMode: 0
inWeight: {x: 0, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 0.5
value: {x: 0, y: 11.25, z: 0}
inSlope: {x: 0, y: 0.0000076293945, z: 0}
outSlope: {x: 0, y: 0.0000076293945, z: 0}
inSlope: {x: 0, y: -168.74998, z: 0}
outSlope: {x: 0, y: -168.74998, z: 0}
tangentMode: 0
weightedMode: 0
inWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 0.6666667
time: 0.06666667
value: {x: 0, y: -11.25, z: 0}
inSlope: {x: 0, y: 0.000015258789, z: 0}
outSlope: {x: 0, y: 0.000015258789, z: 0}
tangentMode: 0
weightedMode: 0
inWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 0.2
value: {x: 0, y: 11.25, z: 0}
inSlope: {x: 0, y: 0.000022888184, z: 0}
outSlope: {x: 0, y: 0.000022888184, z: 0}
tangentMode: 0
weightedMode: 0
inWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 0.26666668
value: {x: 0, y: 0, z: 0}
inSlope: {x: 0, y: -67.49999, z: 0}
outSlope: {x: 0, y: -67.49999, z: 0}
inSlope: {x: 0, y: -168.74997, z: 0}
outSlope: {x: 0, y: -168.74997, z: 0}
tangentMode: 0
weightedMode: 0
inWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
@ -106,17 +106,17 @@ AnimationClip:
- serializedVersion: 3
time: 0
value: {x: 0, y: 0, z: 0}
inSlope: {x: 0, y: -67.5, z: 0}
outSlope: {x: 0, y: -67.5, z: 0}
inSlope: {x: 0, y: -168.74998, z: 0}
outSlope: {x: 0, y: -168.74998, z: 0}
tangentMode: 0
weightedMode: 0
inWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 0.6666667
time: 0.26666668
value: {x: 0, y: -45, z: 0}
inSlope: {x: 0, y: -67.5, z: 0}
outSlope: {x: 0, y: -67.5, z: 0}
inSlope: {x: 0, y: -168.74998, z: 0}
outSlope: {x: 0, y: -168.74998, z: 0}
tangentMode: 0
weightedMode: 0
inWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
@ -139,16 +139,16 @@ AnimationClip:
inWeight: {x: 0, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 0.16666667
time: 0.06666667
value: {x: 0, y: 0, z: 0}
inSlope: {x: 0, y: -0, z: 0}
outSlope: {x: 0, y: 0.012, z: 0}
outSlope: {x: 0, y: 0.03, z: 0}
tangentMode: 0
weightedMode: 0
inWeight: {x: 0, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 0.33333334
time: 0.13333334
value: {x: 0, y: 0.002, z: 0}
inSlope: {x: 0, y: 0, z: 0}
outSlope: {x: 0, y: 0, z: 0}
@ -157,9 +157,9 @@ AnimationClip:
inWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 0.5
time: 0.2
value: {x: 0, y: 0, z: 0}
inSlope: {x: 0, y: -0.012000001, z: 0}
inSlope: {x: 0, y: -0.030000003, z: 0}
outSlope: {x: 0, y: 0, z: 0}
tangentMode: 0
weightedMode: 0
@ -182,25 +182,25 @@ AnimationClip:
inWeight: {x: 0, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 0.16666667
time: 0.06666667
value: {x: 0, y: 0, z: 0}
inSlope: {x: 0, y: -0.012, z: 0}
inSlope: {x: 0, y: -0.03, z: 0}
outSlope: {x: 0, y: 0, z: 0}
tangentMode: 0
weightedMode: 0
inWeight: {x: 0, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 0.5
time: 0.2
value: {x: 0, y: 0, z: 0}
inSlope: {x: 0, y: -0, z: 0}
outSlope: {x: 0, y: 0.011999999, z: 0}
outSlope: {x: 0, y: 0.029999996, z: 0}
tangentMode: 0
weightedMode: 0
inWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
outWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
- serializedVersion: 3
time: 0.6666667
time: 0.26666668
value: {x: 0, y: 0.002, z: 0}
inSlope: {x: 0, y: 0, z: 0}
outSlope: {x: 0, y: 0, z: 0}
@ -215,7 +215,7 @@ AnimationClip:
m_ScaleCurves: []
m_FloatCurves: []
m_PPtrCurves: []
m_SampleRate: 60
m_SampleRate: 30
m_WrapMode: 0
m_Bounds:
m_Center: {x: 0, y: 0, z: 0}
@ -273,13 +273,13 @@ AnimationClip:
m_AdditiveReferencePoseClip: {fileID: 0}
m_AdditiveReferencePoseTime: 0
m_StartTime: 0
m_StopTime: 0.6666667
m_StopTime: 0.26666668
m_OrientationOffsetY: 0
m_Level: 0
m_CycleOffset: 0
m_HasAdditiveReferencePose: 0
m_LoopTime: 1
m_LoopBlend: 0
m_LoopBlend: 1
m_LoopBlendOrientation: 0
m_LoopBlendPositionY: 0
m_LoopBlendPositionXZ: 0
@ -296,56 +296,35 @@ AnimationClip:
- serializedVersion: 3
time: 0
value: 0
inSlope: 0
outSlope: 0
tangentMode: 136
weightedMode: 0
inWeight: 0
outWeight: 0
m_PreInfinity: 2
m_PostInfinity: 2
m_RotationOrder: 4
attribute: localEulerAnglesRaw.x
path: Body/LeftFeetTarget
classID: 4
script: {fileID: 0}
flags: 0
- serializedVersion: 2
curve:
serializedVersion: 2
m_Curve:
- serializedVersion: 3
time: 0
value: 0
inSlope: 67.5
outSlope: 67.5
inSlope: 168.74998
outSlope: 168.74998
tangentMode: 34
weightedMode: 0
inWeight: 0.33333334
outWeight: 0.33333334
- serializedVersion: 3
time: 0.16666667
time: 0.06666667
value: 11.25
inSlope: -0.0000038146973
outSlope: -0.0000038146973
inSlope: -0.000015258789
outSlope: -0.000015258789
tangentMode: 34
weightedMode: 0
inWeight: 0.33333334
outWeight: 0.33333334
- serializedVersion: 3
time: 0.5
time: 0.2
value: -11.25
inSlope: -0.0000076293945
outSlope: -0.0000076293945
inSlope: -0.000022888184
outSlope: -0.000022888184
tangentMode: 34
weightedMode: 0
inWeight: 0.33333334
outWeight: 0.33333334
- serializedVersion: 3
time: 0.6666667
time: 0.26666668
value: 0
inSlope: 67.49999
outSlope: 67.49999
inSlope: 168.74997
outSlope: 168.74997
tangentMode: 34
weightedMode: 0
inWeight: 0.33333334
@ -365,77 +344,35 @@ AnimationClip:
- serializedVersion: 3
time: 0
value: 0
inSlope: 0
outSlope: 0
tangentMode: 136
weightedMode: 0
inWeight: 0
outWeight: 0
m_PreInfinity: 2
m_PostInfinity: 2
m_RotationOrder: 4
attribute: localEulerAnglesRaw.z
path: Body/LeftFeetTarget
classID: 4
script: {fileID: 0}
flags: 0
- serializedVersion: 2
curve:
serializedVersion: 2
m_Curve:
- serializedVersion: 3
time: 0
value: 0
inSlope: 0
outSlope: 0
tangentMode: 136
weightedMode: 0
inWeight: 0
outWeight: 0
m_PreInfinity: 2
m_PostInfinity: 2
m_RotationOrder: 4
attribute: localEulerAnglesRaw.x
path: Body/RightFeetTarget
classID: 4
script: {fileID: 0}
flags: 0
- serializedVersion: 2
curve:
serializedVersion: 2
m_Curve:
- serializedVersion: 3
time: 0
value: 0
inSlope: -67.5
outSlope: -67.5
inSlope: -168.74998
outSlope: -168.74998
tangentMode: 34
weightedMode: 0
inWeight: 0.33333334
outWeight: 0.33333334
- serializedVersion: 3
time: 0.16666667
time: 0.06666667
value: -11.25
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