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WIP Physics based walking

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This commit is contained in:
Pascal Serrarens 2026-03-10 17:05:57 +01:00
parent 63486d10b9
commit 837c5ce807
13 changed files with 5199 additions and 705 deletions
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25
CreatureControl/Runtime/Scripts/LegTarget.cs
View File

@ -5,6 +5,31 @@ namespace Passer.CreatureControl {
public class LegTarget : MonoBehaviour {
public TargetLeg leg;
public Collider footCollider;
public Renderer sphereRenderer;
public void Start() {
sphereRenderer = this.GetComponentInChildren<Renderer>();
}
void OnTriggerEnter(Collider collider) {// (Collision collision) {
// Change color on collision
ChangeColor(Color.red);
}
//void OnCollisionExit(Collision collision) {
void OnTriggerExit(Collider other) {
// Reset to original color on exit
ChangeColor(Color.white);
}
void ChangeColor(Color newColor) {
if (sphereRenderer != null) {
sphereRenderer.material.color = newColor; // Change the color
}
}
public virtual void OnDrawGizmosSelected() {
if (leg != null)
leg.OnDrawGizmosSelected();

11
CreatureControl/Runtime/Scripts/TargetLeg.cs
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@ -21,7 +21,16 @@ namespace Passer.CreatureControl {
targetToBoneFemur = TargetRig.TargetToBoneRotation(leg.femur, leg.tibia);
targetToBoneTibia = TargetRig.TargetToBoneRotation(leg.tibia, leg.tarsus);
this.target.SetPositionAndRotation(this.tarsusTarget.position, this.tarsusTarget.rotation);
float femurLength = Vector3.Distance(this.femurTarget.position, this.tibiaTarget.position);
float tibiaLength = Vector3.Distance(this.tibiaTarget.position, this.tarsusTarget.position);
float leglength = femurLength + tibiaLength;
Vector3 legDirection = (this.tarsusTarget.position - this.femurTarget.position).normalized;
this.target.position = this.femurTarget.position + 0.7f * leglength * legDirection.normalized;
this.target.rotation = Quaternion.LookRotation(legDirection);
//this.target.SetPositionAndRotation(this.tarsusTarget.position, this.tarsusTarget.rotation);
this.target.localPosition = new(this.target.localPosition.x, 0, this.target.localPosition.z);
}
public virtual void OnDrawGizmosSelected() {

914
Runtime/Resources/InsectTargetRig.prefab
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File diff suppressed because it is too large Load Diff

6
Samples/Animation/AntAnimator.controller
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414
Samples/Animation/AntWalk.anim
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1568
Samples/Foraging.unity
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14
Samples/Materials/Slippery.physicMaterial Normal file
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Samples/Prefabs/LowPolyAnt _Physics.prefab Normal file
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7
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Samples/Prefabs/LowPolyAnt.prefab
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