Inverse Root Motion
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163
CreatureControl/Editor/Scripts/CreatureAnimator_Editor.cs
Normal file
163
CreatureControl/Editor/Scripts/CreatureAnimator_Editor.cs
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@ -0,0 +1,163 @@
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using System.Collections.Generic;
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using UnityEditor;
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using UnityEngine;
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namespace CreatureControl {
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[CustomEditor(typeof(CreatureAnimator))]
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class CreatureAnimator_Editor : Editor {
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CreatureAnimator animator;
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void OnEnable() {
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animator = (CreatureAnimator)target;
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}
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private bool showRootVelocities = false;
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public override void OnInspectorGUI() {
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base.OnInspectorGUI();
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serializedObject.Update();
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ComputeRootVelocities(animator);
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// showRootVelocities = EditorGUILayout.Foldout(showRootVelocities, "Root Velocities", true);
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// if (showRootVelocities) {
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// EditorGUI.indentLevel++;
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// foreach (CreatureAnimator.RootMotion rm in animator.rootVelocities) {
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// //foreach (KeyValuePair<string, CreatureAnimator.RootMotion> kvp in animator.rootVelocities) {
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// EditorGUILayout.LabelField(rm.animationClipName);
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// EditorGUI.indentLevel++;
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// EditorGUILayout.Vector3Field("Linear Velocity", rm.linearVelocity);
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// EditorGUILayout.Vector3Field("Angular Velocity", rm.angularVelocity);
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// EditorGUI.indentLevel--;
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// }
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// EditorGUI.indentLevel--;
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// }
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EditorUtility.SetDirty(animator);
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serializedObject.ApplyModifiedProperties();
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}
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private static void ComputeRootVelocities(CreatureAnimator animator) {
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if (animator != null && animator.animatorController != null) {
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AnimationClip[] clips = animator.animatorController.animationClips;//GetAnimationClips(animator.animator);
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int clipIx = 0;
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while (clipIx < clips.Length) {
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AnimationClip clip = clips[clipIx];
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CreatureAnimator.RootMotion rootVelocity = CalculateRootVelocity(clip);
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CreatureAnimator.RootMotion existingRootMotion = animator.GetRootMotion(rootVelocity.clipName);
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if (existingRootMotion == null)
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animator.rootVelocities.Add(rootVelocity);
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else {
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existingRootMotion.linearVelocity = rootVelocity.linearVelocity;
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existingRootMotion.angularVelocity = rootVelocity.angularVelocity;
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}
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clipIx++;
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}
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}
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}
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public static CreatureAnimator.RootMotion CalculateRootVelocity(AnimationClip clip) {
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float duration = clip.length;
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if (duration == 0)
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return CreatureAnimator.RootMotion.zero;
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// Collect curve bindings for position-like properties.
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EditorCurveBinding[] bindings = AnimationUtility.GetCurveBindings(clip);
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foreach (EditorCurveBinding binding in bindings) {
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string prop = binding.propertyName;
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if (string.IsNullOrEmpty(prop))
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continue;
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// Check if the binding is for the root motion (usually the hip or root)
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if (binding.path == "" && binding.type == typeof(Transform)) {
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// Found the root transform, look for position curves
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Vector3 linearTranslation = ComputeTranslation(clip);
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Vector3 linearVelocity = linearTranslation / duration;
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Vector3 angularRotation = ComputeRotation(clip);
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Vector3 angularVelocity = angularRotation / duration;
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CreatureAnimator.RootMotion rootMotion = new() {
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clipName = clip.name,
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linearVelocity = linearVelocity,
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angularVelocity = angularVelocity
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};
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return rootMotion;
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}
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}
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return CreatureAnimator.RootMotion.zero;
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}
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public static Vector3 ComputeTranslation(AnimationClip clip) {
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// Retrieve the x, y, z curves
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AnimationCurve xCurve = null;
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AnimationCurve yCurve = null;
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AnimationCurve zCurve = null;
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EditorCurveBinding[] bindings = AnimationUtility.GetCurveBindings(clip);
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foreach (EditorCurveBinding binding in bindings) {
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if (binding.propertyName.StartsWith("m_LocalPosition.x")) {
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xCurve = AnimationUtility.GetEditorCurve(clip, binding);
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}
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else if (binding.propertyName.StartsWith("m_LocalPosition.y")) {
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yCurve = AnimationUtility.GetEditorCurve(clip, binding);
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}
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else if (binding.propertyName.StartsWith("m_LocalPosition.z")) {
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zCurve = AnimationUtility.GetEditorCurve(clip, binding);
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}
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}
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float totalTranslationX = ComputeTotalChange(xCurve);
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float totalTranslationY = ComputeTotalChange(yCurve);
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float totalTranslationZ = ComputeTotalChange(zCurve);
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return new Vector3(totalTranslationX, totalTranslationY, totalTranslationZ);
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}
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public static Vector3 ComputeRotation(AnimationClip clip) {
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// Retrieve the x, y, z curves
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AnimationCurve xCurve = null;
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AnimationCurve yCurve = null;
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AnimationCurve zCurve = null;
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EditorCurveBinding[] bindings = AnimationUtility.GetCurveBindings(clip);
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foreach (EditorCurveBinding binding in bindings) {
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if (binding.propertyName.StartsWith("localEulerAnglesRaw.x")) {
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xCurve = AnimationUtility.GetEditorCurve(clip, binding);
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}
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else if (binding.propertyName.StartsWith("localEulerAnglesRaw.y")) {
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yCurve = AnimationUtility.GetEditorCurve(clip, binding);
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}
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else if (binding.propertyName.StartsWith("localEulerAnglesRaw.z")) {
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zCurve = AnimationUtility.GetEditorCurve(clip, binding);
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}
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}
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float totalRotationX = ComputeTotalChange(xCurve);
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float totalRotationY = ComputeTotalChange(yCurve);
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float totalRotationZ = ComputeTotalChange(zCurve);
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return new Vector3(totalRotationX, totalRotationY, totalRotationZ);
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}
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private static float ComputeTotalChange(AnimationCurve curve) {
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if (curve == null || curve.keys.Length < 2) {
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//Debug.LogWarning("Not enough keyframes to compute translation for this axis.");
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return 0f; // Return 0 or handle appropriately
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}
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float totalChange = 0f;
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Keyframe[] keyframes = curve.keys;
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for (int i = 0; i < keyframes.Length - 1; i++) {
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float delta = keyframes[i + 1].value - keyframes[i].value;
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totalChange += delta;
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}
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return totalChange;
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}
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}
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}
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@ -0,0 +1,11 @@
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fileFormatVersion: 2
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guid: dbefe8b30fcec3e90949aee1bb24b514
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MonoImporter:
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externalObjects: {}
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serializedVersion: 2
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defaultReferences: []
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executionOrder: 0
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icon: {instanceID: 0}
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userData:
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assetBundleName:
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assetBundleVariant:
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@ -1,5 +1,6 @@
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using UnityEditor;
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using UnityEditor.SceneManagement;
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using UnityEngine;
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namespace CreatureControl {
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@ -18,6 +19,8 @@ namespace CreatureControl {
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/// </summary>
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public virtual void OnEnable() {
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this.creature = target as Creature;
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if (creature.targetRig != null)
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creature.animator = creature.targetRig.GetComponent<Animator>();
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// Keep track if anything changed while enabling the creature editor
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bool anythingChanged = false;
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@ -47,6 +47,9 @@ namespace CreatureControl {
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#region Init
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protected virtual void Awake() {
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if (this.targetRig != null)
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this.animator = this.targetRig.GetComponent<Animator>();
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CheckColliders();
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}
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@ -132,13 +135,13 @@ namespace CreatureControl {
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// Without a target rig, the creature cannot move
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return;
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UpdatePose();
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// UpdatePose();
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// copy animator root motion to the creature
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this.transform.SetPositionAndRotation(targetRig.transform.position, targetRig.transform.rotation);
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// As target rig is probably a child of this.transform,
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// We need to restore the position/rotation of the targetsRig.
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targetRig.transform.SetPositionAndRotation(this.transform.position, this.transform.rotation);
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// // copy animator root motion to the creature
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// this.transform.SetPositionAndRotation(targetRig.transform.position, targetRig.transform.rotation);
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// // As target rig is probably a child of this.transform,
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// // We need to restore the position/rotation of the targetsRig.
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// targetRig.transform.SetPositionAndRotation(this.transform.position, this.transform.rotation);
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}
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// void OnAnimatorMove() {
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110
CreatureControl/Runtime/Scripts/CreatureAnimator.cs
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110
CreatureControl/Runtime/Scripts/CreatureAnimator.cs
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using System.Collections.Generic;
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using UnityEngine;
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using UnityEditor.Animations;
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namespace CreatureControl {
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public class CreatureAnimator : MonoBehaviour {
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public Creature creature;
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public RuntimeAnimatorController animatorController;
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private Animator animator;
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public enum RootMotionMode {
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Normal,
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Inverse
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};
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public RootMotionMode rootMotionMode = RootMotionMode.Normal;
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[System.Serializable]
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public class RootMotion {
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public string clipName;
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public Vector3 linearVelocity;
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public Vector3 angularVelocity;
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public readonly static RootMotion zero = new() {
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linearVelocity = Vector3.zero,
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angularVelocity = Vector3.zero
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};
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}
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//public Dictionary<string, RootMotion> rootVelocities = new();
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public List<RootMotion> rootVelocities = new();
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public RootMotion GetRootMotion(string name) {
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return this.rootVelocities.Find(rm => rm.clipName == name);
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}
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public Dictionary<Vector3, string> animationDirections = new();
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protected virtual void Awake() {
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this.creature = GetComponent<Creature>();
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this.animator = creature.animator; // GetComponent<Animator>();
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this.animator.applyRootMotion = this.rootMotionMode == RootMotionMode.Normal;
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}
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protected virtual void Update() {
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if (rootMotionMode == RootMotionMode.Inverse) {
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Vector3 speed = new(0, 0, 0.024f);
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this.transform.localPosition += speed * Time.deltaTime; //0.0048f * Time.deltaTime * this.transform.forward;
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InverseRootMotionUpdate();
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}
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else {
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this.animator.SetFloat("Forward", 1f);
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// Ensure that the pose of the model matches the target rig
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this.creature.targetRig.transform.GetPositionAndRotation(out Vector3 targetRigPosition, out Quaternion targetRigOrientation);
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this.creature.transform.SetPositionAndRotation(targetRigPosition, targetRigOrientation);
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this.creature.targetRig.transform.SetPositionAndRotation(targetRigPosition, targetRigOrientation);
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}
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}
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private Vector3 lastPosition;
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protected void InverseRootMotionUpdate() {
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if (lastPosition.sqrMagnitude > 0) {
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Vector3 translation = this.transform.position - lastPosition;
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Vector3 worldVelocity = translation / Time.deltaTime;
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Vector3 localVelocity = transform.InverseTransformDirection(worldVelocity);
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RootMotion rootMotion = this.GetRootMotion("AntWalkForward");
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Vector3 animationVelocity = rootMotion.linearVelocity; // rootVelocities["AntWalkForward"].linearVelocity;
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float fwdAnimationSpeed = localVelocity.z / animationVelocity.z;
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this.animator.SetFloat("Forward", fwdAnimationSpeed);
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}
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lastPosition = this.transform.position;
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}
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void RetrieveBlendTreeAnimations(Animator animator, string parameterName, float targetValue) {
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AnimatorController ac = animator.runtimeAnimatorController as AnimatorController;
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// Check if the Animator Controller is valid
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if (ac == null) {
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Debug.LogError("Animator Controller is not set correctly.");
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return;
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}
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// Iterate through each layer in the Animator Controller
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foreach (AnimatorControllerLayer layer in ac.layers) {
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// Access the state machine
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foreach (ChildAnimatorState state in layer.stateMachine.states) {
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// Check if the state contains a Blend Tree
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if (state.state.motion is BlendTree blendTree) {
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// Iterate through blend tree children
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foreach (ChildMotion child in blendTree.children) {
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if (child.directBlendParameter == parameterName) {
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// Simulate parameter setting
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//animator.SetFloat(parameterName, targetValue);
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// Get the animation clip information
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if (child.motion is AnimationClip clip) {
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Debug.Log($"Animation Clip: {clip.name}, Speed: {child.timeScale}");
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}
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}
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}
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}
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}
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}
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}
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}
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}
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11
CreatureControl/Runtime/Scripts/CreatureAnimator.cs.meta
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11
CreatureControl/Runtime/Scripts/CreatureAnimator.cs.meta
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@ -0,0 +1,11 @@
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fileFormatVersion: 2
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guid: d5fac3088e8f605ce9a8560b7d815904
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MonoImporter:
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externalObjects: {}
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serializedVersion: 2
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defaultReferences: []
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executionOrder: 0
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icon: {instanceID: 0}
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userData:
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assetBundleName:
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assetBundleVariant:
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@ -143,7 +143,7 @@ MonoBehaviour:
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rightFrontLeg: {fileID: 5856460076900731150}
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rightMiddleLeg: {fileID: 4196034226083389076}
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rightBackLeg: {fileID: 8323677930838830493}
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render: 0
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render: 1
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legLength: 0.009770508
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--- !u!95 &5843436816833865534
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Animator:
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@ -409,7 +409,7 @@ MeshRenderer:
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 1361514731818578437}
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m_Enabled: 0
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m_Enabled: 1
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m_CastShadows: 1
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m_ReceiveShadows: 1
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m_DynamicOccludee: 1
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@ -1094,7 +1094,7 @@ MeshRenderer:
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 5894983358397305477}
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m_Enabled: 0
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m_Enabled: 1
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m_CastShadows: 1
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m_ReceiveShadows: 1
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m_DynamicOccludee: 1
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@ -1400,7 +1400,7 @@ MeshRenderer:
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 7154771341835324246}
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m_Enabled: 0
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m_Enabled: 1
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m_CastShadows: 1
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m_ReceiveShadows: 1
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m_DynamicOccludee: 1
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@ -1505,7 +1505,7 @@ MeshRenderer:
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 7738229459793727928}
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m_Enabled: 0
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m_Enabled: 1
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m_CastShadows: 1
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m_ReceiveShadows: 1
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m_DynamicOccludee: 1
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@ -1610,7 +1610,7 @@ MeshRenderer:
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 8132734907093829157}
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m_Enabled: 0
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m_Enabled: 1
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m_CastShadows: 1
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m_ReceiveShadows: 1
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m_DynamicOccludee: 1
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@ -1779,7 +1779,7 @@ MeshRenderer:
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 8786064911351911589}
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m_Enabled: 0
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m_Enabled: 1
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m_CastShadows: 1
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m_ReceiveShadows: 1
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m_DynamicOccludee: 1
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@ -59,9 +59,6 @@ namespace CreatureControl {
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protected override void Awake() {
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base.Awake();
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if (this.targetRig != null)
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this.animator = this.targetRig.GetComponent<Animator>();
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this.nanoBrain = GetComponentInChildren<Brain>();
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}
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@ -12,7 +12,7 @@ BlendTree:
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m_Motion: {fileID: 7400000, guid: ab82ff68e62ea3b1c8e6523f8d46c142, type: 2}
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m_Threshold: -1
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m_Position: {x: 0, y: 1}
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m_TimeScale: 5
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m_TimeScale: 1
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m_CycleOffset: 0
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m_DirectBlendParameter: Forward
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m_Mirror: 0
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@ -28,7 +28,7 @@ BlendTree:
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m_Motion: {fileID: 7400000, guid: 91229db5e929c379bbfd5bf417848488, type: 2}
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m_Threshold: 1
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m_Position: {x: 1, y: 0}
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m_TimeScale: 5
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m_TimeScale: 1
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m_CycleOffset: 0
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m_DirectBlendParameter: Forward
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m_Mirror: 0
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@ -59,7 +59,7 @@ BlendTree:
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m_Motion: {fileID: 7400000, guid: b8a731a1533b8c960b3f3688d4922a24, type: 2}
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m_Threshold: 0.25
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m_Position: {x: 0, y: 1}
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m_TimeScale: 5
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m_TimeScale: 1
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m_CycleOffset: 0
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m_DirectBlendParameter: Forward
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m_Mirror: 0
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@ -67,7 +67,7 @@ BlendTree:
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m_Motion: {fileID: 7400000, guid: 240c3a3c6c28272059bf7b591ff818b1, type: 2}
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m_Threshold: 0.5
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m_Position: {x: -1, y: 0}
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m_TimeScale: 5
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m_TimeScale: 1
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m_CycleOffset: 0
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m_DirectBlendParameter: Forward
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m_Mirror: 0
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@ -75,7 +75,7 @@ BlendTree:
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m_Motion: {fileID: 7400000, guid: 501d5503172629df192bb4ad015fb4f7, type: 2}
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m_Threshold: 0.75
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m_Position: {x: 1, y: 0}
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Reference in New Issue
Block a user