NanoBrain/NanoBrain-unitypackage
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Fix Ant

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This commit is contained in:
Pascal Serrarens 2026-04-13 17:42:21 +02:00
parent 7c1061ade5
commit ae035d4672
11 changed files with 322 additions and 158 deletions
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2
CreatureControl/Editor/Scripts/CreatureAnimator_Editor.cs
View File

@ -12,7 +12,7 @@ namespace CreatureControl {
animator = (CreatureAnimator)target;
}
private bool showRootVelocities = false;
//private bool showRootVelocities = false;
public override void OnInspectorGUI() {
base.OnInspectorGUI();

17
CreatureControl/Editor/Scripts/Creature_Editor.cs
View File

@ -23,19 +23,20 @@ namespace CreatureControl {
creature.animator = creature.targetRig.GetComponent<Animator>();
// Keep track if anything changed while enabling the creature editor
bool anythingChanged = false;
bool somethingChanged = false;
if (IsPrefab(this.creature) == false) {
// Only do this when it is not a prefab
anythingChanged |= this.creature.CheckTargetRig();
anythingChanged |= this.creature.CheckModel();
}
// if (IsPrefab(this.creature) == false) {
// // Only do this when it is not a prefab
// somethingChanged |= this.creature.CheckTargetRig();
// somethingChanged |= this.creature.CheckModel();
// }
this.creature.targetRig.MatchTo(this.creature, ref anythingChanged);
this.creature.targetRig.MatchTo(this.creature, ref somethingChanged);
// As the above functions do not use the serialized object
// We need to manually persist the changes.
if (anythingChanged) {
if (somethingChanged) {
Debug.Log("something has changed");
EditorUtility.SetDirty(this.creature);
AssetDatabase.SaveAssets();
}

58
CreatureControl/Editor/Scripts/Insect/Insect_Editor.cs
View File

@ -1,7 +1,7 @@
using System.Collections.Generic;
using UnityEditor;
using UnityEngine;
using UnityEditor.Animations;
using UnityEngine;
namespace CreatureControl {
@ -14,10 +14,14 @@ namespace CreatureControl {
insect = target as Insect;
bool anythingChanged = false;
//bool anythingChanged = false;
//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);
/*
anythingChanged |= insect.CheckTargetRig("InsectRig");
insect.insectRig.MatchTo(insect, ref anythingChanged);
float prefabLegLength = 0.003f;
float modelLegLength = insect.insectRig.legLength;
float scale = prefabLegLength / modelLegLength;
@ -51,21 +55,21 @@ namespace CreatureControl {
return;
}
if (insect.updateAnimations) {
AnimationEditor.ScaleClip(clips[0], scale, insect.animationsPath);
Debug.Log($"Scaled{clips[0].name} with {scale} and saved it to {insect.animationsPath}");
}
else {
Debug.Log($"Did not scale {clips[0].name} with scale {scale} and save it to {insect.animationsPath}");
}
// if (insect.updateAnimations) {
// AnimationEditor.ScaleClip(clips[0], scale, insect.animationsPath);
// Debug.Log($"Scaled{clips[0].name} with {scale} and saved it to {insect.animationsPath}");
// }
// else {
// Debug.Log($"Did not scale {clips[0].name} with scale {scale} and save it to {insect.animationsPath}");
// }
*/
if (anythingChanged) {
EditorUtility.SetDirty(creature);
AssetDatabase.SaveAssets();
}
// if (anythingChanged) {
// EditorUtility.SetDirty(creature);
// AssetDatabase.SaveAssets();
// }
}
static void CollectFromStateMachine(AnimatorStateMachine sm, List<AnimationClip> outList) {
foreach (var state in sm.states) {
var motion = state.state.motion;
@ -124,27 +128,35 @@ namespace CreatureControl {
"The target transforms controlling the body parts"
);
showTargets = EditorGUILayout.Foldout(showTargets, text, true);
if (showTargets) {
bool somethingChanged = false;
EditorGUI.indentLevel++;
if (configurationIncomplete) {
EditorGUILayout.HelpBox("Not all legs are configured", MessageType.Warning);
}
SerializedProperty leftFrontLegProp = serializedObject.FindProperty(nameof(Insect.leftFrontLeg));
Leg_Editor.Inspector(leftFrontLegProp);
somethingChanged |= Leg_Editor.Inspector(leftFrontLegProp, insect.insectRig.leftFrontLeg, insect.leftFrontLeg);
SerializedProperty leftMiddleLegProp = serializedObject.FindProperty(nameof(Insect.leftMiddleLeg));
Leg_Editor.Inspector(leftMiddleLegProp);
somethingChanged |= Leg_Editor.Inspector(leftMiddleLegProp, insect.insectRig.leftMiddleLeg, insect.leftMiddleLeg);
SerializedProperty leftHindLegProp = serializedObject.FindProperty(nameof(Insect.leftHindLeg));
Leg_Editor.Inspector(leftHindLegProp);
somethingChanged |= Leg_Editor.Inspector(leftHindLegProp, insect.insectRig.leftBackLeg, insect.leftHindLeg);
SerializedProperty rightFrontLegProp = serializedObject.FindProperty(nameof(Insect.rightFrontLeg));
Leg_Editor.Inspector(rightFrontLegProp);
somethingChanged |= Leg_Editor.Inspector(rightFrontLegProp, insect.insectRig.rightFrontLeg, insect.rightFrontLeg);
SerializedProperty rightMiddleLegProp = serializedObject.FindProperty(nameof(Insect.rightMiddleLeg));
Leg_Editor.Inspector(rightMiddleLegProp);
somethingChanged |= Leg_Editor.Inspector(rightMiddleLegProp, insect.insectRig.rightMiddleLeg, insect.rightMiddleLeg);
SerializedProperty rightHindLegProp = serializedObject.FindProperty(nameof(Insect.rightHindLeg));
Leg_Editor.Inspector(rightHindLegProp);
somethingChanged |= Leg_Editor.Inspector(rightHindLegProp, insect.insectRig.rightBackLeg, insect.rightHindLeg);
EditorGUI.indentLevel--;
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();
}
}
}

7
CreatureControl/Editor/Scripts/Leg_Editor.cs
View File

@ -7,7 +7,9 @@ namespace CreatureControl {
private static bool showfield = false;
public static void Inspector(SerializedProperty legProp) {
public static bool Inspector(SerializedProperty legProp, TargetLeg targetLeg, Leg leg) {
bool anythingChanged = false;
GUIStyle foldoutStyle = new(EditorStyles.foldout) {
margin = EditorStyles.objectField.margin
};
@ -21,6 +23,7 @@ namespace CreatureControl {
Transform newFemur = (Transform)EditorGUILayout.ObjectField(femurProp.objectReferenceValue, typeof(Transform), true);
if (newFemur != femurProp.objectReferenceValue) {
// Try to determine further bones when the femur has been updated
femurProp.objectReferenceValue = newFemur;
if (newFemur != null) {
if (tibiaProp.objectReferenceValue == null && newFemur.childCount == 1)
@ -31,6 +34,7 @@ namespace CreatureControl {
tarsusProp.objectReferenceValue = tibia.GetChild(0);
}
}
anythingChanged = true;
}
EditorGUILayout.EndHorizontal();
@ -44,6 +48,7 @@ namespace CreatureControl {
// Need to check if anythingChanged and update the projection if it did
EditorGUI.indentLevel--;
}
return anythingChanged;
}
private static string ConvertCamelCase(string text) {

26
CreatureControl/Runtime/Scripts/Creature.cs
View File

@ -135,25 +135,15 @@ namespace CreatureControl {
// Without a target rig, the creature cannot move
return;
// UpdatePose();
UpdatePose();
// // copy animator root motion to the creature
// this.transform.SetPositionAndRotation(targetRig.transform.position, targetRig.transform.rotation);
// // As target rig is probably a child of this.transform,
// // We need to restore the position/rotation of the targetsRig.
// targetRig.transform.SetPositionAndRotation(this.transform.position, this.transform.rotation);
// copy animator root motion to the creature
this.transform.SetPositionAndRotation(targetRig.transform.position, targetRig.transform.rotation);
// As target rig is probably a child of this.transform,
// We need to restore the position/rotation of the targetsRig.
targetRig.transform.SetPositionAndRotation(this.transform.position, this.transform.rotation);
}
// void OnAnimatorMove() {
// if (animator == null || creatureRigidbody == null || creatureRigidbody.isKinematic )
// return;
// Vector3 delta = animator.deltaPosition;
// Quaternion rot = animator.deltaRotation;
// creatureRigidbody.MovePosition(creatureRigidbody.position + delta);
// creatureRigidbody.MoveRotation(creatureRigidbody.rotation * rot);
// }
/// <summary>
/// Update the pose of the creature using the target rig
/// </summary>
@ -317,7 +307,7 @@ namespace CreatureControl {
}
RaycastHit closestHit = hits[closestHitIx];
Debug.Log($"hit.distance {closestHit.distance} - {maxDistance}");
//Debug.Log($"hit.distance {closestHit.distance} - {maxDistance}");
ground = closestHit.transform;
normal = closestHit.normal;
distance = closestHit.distance - maxDistance;
@ -333,7 +323,7 @@ namespace CreatureControl {
/// <summary>
/// Update the pose of the creature when the application is not running
/// </summary>
void OnDrawGizmos() {
private void OnDrawGizmos() {
// This ensures that the model is always following the target rig
if (Application.isPlaying == false) {
this.UpdatePose();

36
CreatureControl/Runtime/Scripts/CreatureAnimator.cs
View File

@ -16,6 +16,7 @@ namespace CreatureControl {
};
public RootMotionMode rootMotionMode = RootMotionMode.Normal;
// This part may move to editor time only
[System.Serializable]
public class RootMotion {
public string clipName;
@ -27,11 +28,12 @@ namespace CreatureControl {
angularVelocity = Vector3.zero
};
}
//public Dictionary<string, RootMotion> rootVelocities = new();
public List<RootMotion> rootVelocities = new();
public RootMotion GetRootMotion(string name) {
return this.rootVelocities.Find(rm => rm.clipName == name);
}
// end of future editor-time
public Dictionary<Vector3, string> animationDirections = new();
public float rootMotionScaleForward = 1;
@ -109,38 +111,6 @@ namespace CreatureControl {
lastOrientation = this.transform.rotation;
}
void RetrieveBlendTreeAnimations(Animator animator, string parameterName, float targetValue) {
AnimatorController ac = animator.runtimeAnimatorController as AnimatorController;
// Check if the Animator Controller is valid
if (ac == null) {
Debug.LogError("Animator Controller is not set correctly.");
return;
}
// Iterate through each layer in the Animator Controller
foreach (AnimatorControllerLayer layer in ac.layers) {
// Access the state machine
foreach (ChildAnimatorState state in layer.stateMachine.states) {
// Check if the state contains a Blend Tree
if (state.state.motion is BlendTree blendTree) {
// Iterate through blend tree children
foreach (ChildMotion child in blendTree.children) {
if (child.directBlendParameter == parameterName) {
// Simulate parameter setting
//animator.SetFloat(parameterName, targetValue);
// Get the animation clip information
if (child.motion is AnimationClip clip) {
Debug.Log($"Animation Clip: {clip.name}, Speed: {child.timeScale}");
}
}
}
}
}
}
}
}
}

4
CreatureControl/Runtime/Scripts/Insect/InsectRig.cs
View File

@ -62,8 +62,8 @@ namespace CreatureControl {
this.rightFrontLeg.PoseLimb();
}
public override void MatchTo(Creature creature, ref bool anythingChanged) {
base.MatchTo(creature, ref anythingChanged);
public override void MatchTo(Creature creature, ref bool somethingChanged) {
base.MatchTo(creature, ref somethingChanged);
if (creature is not Insect insect)
return;

12
CreatureControl/Runtime/Scripts/Leg.cs
View File

@ -24,13 +24,21 @@ namespace CreatureControl {
private float _femurLength;
public float femurLength {
get {
if (_femurLength <= 0)
if (_femurLength <= 0 && this.femur != null && this.tibia != null)
_femurLength = Vector3.Distance(this.femur.position, this.tibia.position);
return _femurLength;
}
}
// A bit inefficient is this is used a lot...
public float tibiaLength => Vector3.Distance(this.tibia.position, this.tarsus.position);
//public float tibiaLength => Vector3.Distance(this.tibia.position, this.tarsus.position);
private float _tibiaLength;
public float tibiaLength {
get {
if (_tibiaLength <= 0 && this.tibia != null && this.tarsus != null)
_tibiaLength = Vector3.Distance(this.tibia.position, this.tarsus.position);
return _tibiaLength;
}
}
public float length => femurLength + tibiaLength;

4
CreatureControl/Runtime/Scripts/TargetLeg.cs
View File

@ -27,10 +27,6 @@ namespace CreatureControl {
targetToBoneFemur = TargetRig.TargetToBoneRotation(leg.femur, leg.tibia);
targetToBoneTibia = TargetRig.TargetToBoneRotation(leg.tibia, leg.tarsus);
float modelLegLength = leg.length;
float targetLegLength = this.bones.length;
Debug.Log($"model: {modelLegLength} rig: {targetLegLength}");
// Put the end-effector target for IK in a sensible place
Vector3 legDirection = (this.bones.tarsus.position - this.bones.femur.position).normalized;
Vector3 targetPosition = this.bones.femur.position + 0.7f * this.bones.length * legDirection.normalized;

5
Runtime/Scripts/Ant.cs
View File

@ -58,7 +58,7 @@ namespace CreatureControl {
protected override void Awake() {
base.Awake();
this.nanoBrain = GetComponentInChildren<Brain>();
}
@ -147,7 +147,7 @@ namespace CreatureControl {
float rotateParam = Mathf.Clamp(angleRad * 3, -1f, 1f);
this.animator.SetFloat("Forward", forwardParam);
this.animator.SetFloat("Rotate", rotateParam);
this.animator.SetFloat("Rotation", rotateParam);
}
private static readonly WaitForSeconds _waitForSeconds3 = new(3);
@ -253,6 +253,7 @@ namespace CreatureControl {
}
#endregion Update
}
}

309
Samples/Foraging.unity
View File

@ -122,6 +122,11 @@ NavMeshSettings:
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spawnAnt: 0
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