Inverse Root Motion

CreatureControl/Editor/Scripts/CreatureAnimator_Editor.cs

@@ -0,0 +1,163 @@
+using System.Collections.Generic;
+using UnityEditor;
+using UnityEngine;
+
+namespace CreatureControl {
+    [CustomEditor(typeof(CreatureAnimator))]
+    class CreatureAnimator_Editor : Editor {
+
+        CreatureAnimator animator;
+
+        void OnEnable() {
+            animator = (CreatureAnimator)target;
+        }
+
+        private bool showRootVelocities = false;
+        public override void OnInspectorGUI() {
+            base.OnInspectorGUI();
+
+            serializedObject.Update();
+
+            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();
+        }
+
+        private static void ComputeRootVelocities(CreatureAnimator animator) {
+            if (animator != null && animator.animatorController != null) {
+                AnimationClip[] clips = animator.animatorController.animationClips;//GetAnimationClips(animator.animator);
+
+                int clipIx = 0;
+                while (clipIx < clips.Length) {
+                    AnimationClip clip = clips[clipIx];
+                    CreatureAnimator.RootMotion rootVelocity = CalculateRootVelocity(clip);
+                    CreatureAnimator.RootMotion existingRootMotion = animator.GetRootMotion(rootVelocity.clipName);
+                    if (existingRootMotion == null)
+                        animator.rootVelocities.Add(rootVelocity);
+                    else {
+                        existingRootMotion.linearVelocity = rootVelocity.linearVelocity;
+                        existingRootMotion.angularVelocity = rootVelocity.angularVelocity;
+                    }
+                    clipIx++;
+                }
+            }
+        }
+
+        public static CreatureAnimator.RootMotion CalculateRootVelocity(AnimationClip clip) {
+            float duration = clip.length;
+            if (duration == 0)
+                return CreatureAnimator.RootMotion.zero;
+
+            // Collect curve bindings for position-like properties.
+            EditorCurveBinding[] bindings = AnimationUtility.GetCurveBindings(clip);
+            foreach (EditorCurveBinding binding in bindings) {
+                string prop = binding.propertyName;
+                if (string.IsNullOrEmpty(prop))
+                    continue;
+
+                // Check if the binding is for the root motion (usually the hip or root)
+                if (binding.path == "" && binding.type == typeof(Transform)) {
+                    // Found the root transform, look for position curves
+
+                    Vector3 linearTranslation = ComputeTranslation(clip);
+                    Vector3 linearVelocity = linearTranslation / duration;
+                    Vector3 angularRotation = ComputeRotation(clip);
+                    Vector3 angularVelocity = angularRotation / duration;
+                    CreatureAnimator.RootMotion rootMotion = new() {
+                        clipName = clip.name,
+                        linearVelocity = linearVelocity,
+                        angularVelocity = angularVelocity
+                    };
+                    return rootMotion;
+                }
+            }
+            return CreatureAnimator.RootMotion.zero;
+        }
+
+        public static Vector3 ComputeTranslation(AnimationClip clip) {
+            // Retrieve the x, y, z curves
+            AnimationCurve xCurve = null;
+            AnimationCurve yCurve = null;
+            AnimationCurve zCurve = null;
+
+            EditorCurveBinding[] bindings = AnimationUtility.GetCurveBindings(clip);
+            foreach (EditorCurveBinding binding in bindings) {
+                if (binding.propertyName.StartsWith("m_LocalPosition.x")) {
+                    xCurve = AnimationUtility.GetEditorCurve(clip, binding);
+                }
+                else if (binding.propertyName.StartsWith("m_LocalPosition.y")) {
+                    yCurve = AnimationUtility.GetEditorCurve(clip, binding);
+                }
+                else if (binding.propertyName.StartsWith("m_LocalPosition.z")) {
+                    zCurve = AnimationUtility.GetEditorCurve(clip, binding);
+                }
+            }
+
+            float totalTranslationX = ComputeTotalChange(xCurve);
+            float totalTranslationY = ComputeTotalChange(yCurve);
+            float totalTranslationZ = ComputeTotalChange(zCurve);
+
+            return new Vector3(totalTranslationX, totalTranslationY, totalTranslationZ);
+        }
+
+        public static Vector3 ComputeRotation(AnimationClip clip) {
+            // Retrieve the x, y, z curves
+            AnimationCurve xCurve = null;
+            AnimationCurve yCurve = null;
+            AnimationCurve zCurve = null;
+
+            EditorCurveBinding[] bindings = AnimationUtility.GetCurveBindings(clip);
+            foreach (EditorCurveBinding binding in bindings) {
+                if (binding.propertyName.StartsWith("localEulerAnglesRaw.x")) {
+                    xCurve = AnimationUtility.GetEditorCurve(clip, binding);
+                }
+                else if (binding.propertyName.StartsWith("localEulerAnglesRaw.y")) {
+                    yCurve = AnimationUtility.GetEditorCurve(clip, binding);
+                }
+                else if (binding.propertyName.StartsWith("localEulerAnglesRaw.z")) {
+                    zCurve = AnimationUtility.GetEditorCurve(clip, binding);
+                }
+            }
+
+            float totalRotationX = ComputeTotalChange(xCurve);
+            float totalRotationY = ComputeTotalChange(yCurve);
+            float totalRotationZ = ComputeTotalChange(zCurve);
+
+            return new Vector3(totalRotationX, totalRotationY, totalRotationZ);
+        }
+
+        private static float ComputeTotalChange(AnimationCurve curve) {
+            if (curve == null || curve.keys.Length < 2) {
+                //Debug.LogWarning("Not enough keyframes to compute translation for this axis.");
+                return 0f; // Return 0 or handle appropriately
+            }
+
+            float totalChange = 0f;
+            Keyframe[] keyframes = curve.keys;
+
+            for (int i = 0; i < keyframes.Length - 1; i++) {
+                float delta = keyframes[i + 1].value - keyframes[i].value;
+                totalChange += delta;
+            }
+
+            return totalChange;
+        }
+
+    }
+}

CreatureControl/Editor/Scripts/CreatureAnimator_Editor.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: dbefe8b30fcec3e90949aee1bb24b514
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

CreatureControl/Editor/Scripts/Creature_Editor.cs

@@ -1,5 +1,6 @@
 using UnityEditor;
 using UnityEditor.SceneManagement;
+using UnityEngine;
 
 namespace CreatureControl {
 
@@ -18,6 +19,8 @@ namespace CreatureControl {
         /// </summary>
         public virtual void OnEnable() {
             this.creature = target as Creature;
+            if (creature.targetRig != null)
+                creature.animator = creature.targetRig.GetComponent<Animator>();
 
             // Keep track if anything changed while enabling the creature editor
             bool anythingChanged = false;

CreatureControl/Runtime/Scripts/Creature.cs

@@ -47,6 +47,9 @@ namespace CreatureControl {
         #region Init
 
         protected virtual void Awake() {
+            if (this.targetRig != null)
+                this.animator = this.targetRig.GetComponent<Animator>();
+
             CheckColliders();
         }
 
@@ -132,13 +135,13 @@ namespace CreatureControl {
                 // Without a target rig, the creature cannot move
                 return;
 
-            UpdatePose();
+            // UpdatePose();
 
-            // copy animator root motion to the creature
+            // // copy animator root motion to the creature
-            this.transform.SetPositionAndRotation(targetRig.transform.position, targetRig.transform.rotation);
+            // this.transform.SetPositionAndRotation(targetRig.transform.position, targetRig.transform.rotation);
-            // As target rig is probably a child of this.transform,
+            // // As target rig is probably a child of this.transform,
-            // We need to restore the position/rotation of the targetsRig.
+            // // We need to restore the position/rotation of the targetsRig.
-            targetRig.transform.SetPositionAndRotation(this.transform.position, this.transform.rotation);
+            // targetRig.transform.SetPositionAndRotation(this.transform.position, this.transform.rotation);
         }
 
         // void OnAnimatorMove() {

CreatureControl/Runtime/Scripts/CreatureAnimator.cs

@@ -0,0 +1,110 @@
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEditor.Animations;
+
+namespace CreatureControl {
+
+    public class CreatureAnimator : MonoBehaviour {
+        public Creature creature;
+        public RuntimeAnimatorController animatorController;
+        private Animator animator;
+
+        public enum RootMotionMode {
+            Normal,
+            Inverse
+        };
+        public RootMotionMode rootMotionMode = RootMotionMode.Normal;
+
+        [System.Serializable]
+        public class RootMotion {
+            public string clipName;
+            public Vector3 linearVelocity;
+            public Vector3 angularVelocity;
+
+            public readonly static RootMotion zero = new() {
+                linearVelocity = Vector3.zero,
+                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);
+        }
+
+        public Dictionary<Vector3, string> animationDirections = new();
+
+
+        protected virtual void Awake() {
+            this.creature = GetComponent<Creature>();
+            this.animator = creature.animator; // GetComponent<Animator>();
+
+            this.animator.applyRootMotion = this.rootMotionMode == RootMotionMode.Normal;
+        }
+
+        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);
+            }
+        }
+
+        private Vector3 lastPosition;
+        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;
+                this.animator.SetFloat("Forward", fwdAnimationSpeed);
+            }
+            lastPosition = this.transform.position;
+        }
+
+        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}");
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+
+
+    }
+
+}

CreatureControl/Runtime/Scripts/CreatureAnimator.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d5fac3088e8f605ce9a8560b7d815904
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Runtime/Resources/InsectTargetRig.prefab

@@ -143,7 +143,7 @@ MonoBehaviour:
   rightFrontLeg: {fileID: 5856460076900731150}
   rightMiddleLeg: {fileID: 4196034226083389076}
   rightBackLeg: {fileID: 8323677930838830493}
-  render: 0
+  render: 1
   legLength: 0.009770508
 --- !u!95 &5843436816833865534
 Animator:
@@ -409,7 +409,7 @@ MeshRenderer:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1361514731818578437}
-  m_Enabled: 0
+  m_Enabled: 1
   m_CastShadows: 1
   m_ReceiveShadows: 1
   m_DynamicOccludee: 1
@@ -1094,7 +1094,7 @@ MeshRenderer:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 5894983358397305477}
-  m_Enabled: 0
+  m_Enabled: 1
   m_CastShadows: 1
   m_ReceiveShadows: 1
   m_DynamicOccludee: 1
@@ -1400,7 +1400,7 @@ MeshRenderer:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 7154771341835324246}
-  m_Enabled: 0
+  m_Enabled: 1
   m_CastShadows: 1
   m_ReceiveShadows: 1
   m_DynamicOccludee: 1
@@ -1505,7 +1505,7 @@ MeshRenderer:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 7738229459793727928}
-  m_Enabled: 0
+  m_Enabled: 1
   m_CastShadows: 1
   m_ReceiveShadows: 1
   m_DynamicOccludee: 1
@@ -1610,7 +1610,7 @@ MeshRenderer:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 8132734907093829157}
-  m_Enabled: 0
+  m_Enabled: 1
   m_CastShadows: 1
   m_ReceiveShadows: 1
   m_DynamicOccludee: 1
@@ -1779,7 +1779,7 @@ MeshRenderer:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 8786064911351911589}
-  m_Enabled: 0
+  m_Enabled: 1
   m_CastShadows: 1
   m_ReceiveShadows: 1
   m_DynamicOccludee: 1

Runtime/Scripts/Ant.cs

@@ -59,9 +59,6 @@ namespace CreatureControl {
         protected override void Awake() {
             base.Awake();
             
-            if (this.targetRig != null)
-                this.animator = this.targetRig.GetComponent<Animator>();
-
             this.nanoBrain = GetComponentInChildren<Brain>();
         }
 

Samples/Animation/AntAnimator3.controller

@@ -12,7 +12,7 @@ BlendTree:
     m_Motion: {fileID: 7400000, guid: ab82ff68e62ea3b1c8e6523f8d46c142, type: 2}
     m_Threshold: -1
     m_Position: {x: 0, y: 1}
-    m_TimeScale: 5
+    m_TimeScale: 1
     m_CycleOffset: 0
     m_DirectBlendParameter: Forward
     m_Mirror: 0
@@ -28,7 +28,7 @@ BlendTree:
     m_Motion: {fileID: 7400000, guid: 91229db5e929c379bbfd5bf417848488, type: 2}
     m_Threshold: 1
     m_Position: {x: 1, y: 0}
-    m_TimeScale: 5
+    m_TimeScale: 1
     m_CycleOffset: 0
     m_DirectBlendParameter: Forward
     m_Mirror: 0
@@ -59,7 +59,7 @@ BlendTree:
     m_Motion: {fileID: 7400000, guid: b8a731a1533b8c960b3f3688d4922a24, type: 2}
     m_Threshold: 0.25
     m_Position: {x: 0, y: 1}
-    m_TimeScale: 5
+    m_TimeScale: 1
     m_CycleOffset: 0
     m_DirectBlendParameter: Forward
     m_Mirror: 0
@@ -67,7 +67,7 @@ BlendTree:
     m_Motion: {fileID: 7400000, guid: 240c3a3c6c28272059bf7b591ff818b1, type: 2}
     m_Threshold: 0.5
     m_Position: {x: -1, y: 0}
-    m_TimeScale: 5
+    m_TimeScale: 1
     m_CycleOffset: 0
     m_DirectBlendParameter: Forward
     m_Mirror: 0
@@ -75,7 +75,7 @@ BlendTree:
     m_Motion: {fileID: 7400000, guid: 501d5503172629df192bb4ad015fb4f7, type: 2}
     m_Threshold: 0.75
     m_Position: {x: 1, y: 0}
-    m_TimeScale: 5
+    m_TimeScale: 1
     m_CycleOffset: 0
     m_DirectBlendParameter: Forward
     m_Mirror: 0
@@ -83,7 +83,7 @@ BlendTree:
     m_Motion: {fileID: 7400000, guid: b8a731a1533b8c960b3f3688d4922a24, type: 2}
     m_Threshold: 1
     m_Position: {x: 0, y: -1}
-    m_TimeScale: -5
+    m_TimeScale: -1
     m_CycleOffset: 0
     m_DirectBlendParameter: Forward
     m_Mirror: 0
@@ -93,7 +93,7 @@ BlendTree:
   m_MaxThreshold: 1
   m_UseAutomaticThresholds: 1
   m_NormalizedBlendValues: 0
-  m_BlendType: 2
+  m_BlendType: 1
 --- !u!206 &-844531329161772208
 BlendTree:
   m_ObjectHideFlags: 1

Samples/Animation/AntRotateLeft.anim

@@ -139,32 +139,14 @@ AnimationClip:
         inWeight: {x: 0, y: 0.33333334, z: 0.33333334}
         outWeight: {x: 0, y: 0.33333334, z: 0.33333334}
       - serializedVersion: 3
-        time: 0.083333336
+        time: 0.16666667
         value: {x: 0, y: 0, z: 0}
-        inSlope: {x: 0, y: 0, z: 0}
+        inSlope: {x: 0, y: -0, z: 0}
-        outSlope: {x: 0, y: 0, z: 0}
+        outSlope: {x: 0, y: 0.012, 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: 0, z: 0}
-        inSlope: {x: 0, y: 0, z: 0}
-        outSlope: {x: 0, y: 0, 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: 0.25
-        value: {x: 0, y: 0.0015, z: 0}
-        inSlope: {x: 0, y: 0.012, z: 0}
-        outSlope: {x: 0, y: 0.012, z: 0}
-        tangentMode: 0
-        weightedMode: 0
-        inWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
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       - serializedVersion: 3
         time: 0.33333334
         value: {x: 0, y: 0.002, z: 0}
@@ -174,28 +156,10 @@ AnimationClip:
         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: 0.41666666
-        value: {x: 0, y: 0.0015, z: 0}
-        inSlope: {x: 0, y: -0.012000001, z: 0}
-        outSlope: {x: 0, y: -0.012000001, 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: 0.5
         value: {x: 0, y: 0, z: 0}
-        inSlope: {x: 0, y: 0, z: 0}
+        inSlope: {x: 0, y: -0.012000001, z: 0}
-        outSlope: {x: 0, y: 0, 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: 0.5833333
-        value: {x: 0, y: 0, z: 0}
-        inSlope: {x: 0, y: 0, z: 0}
         outSlope: {x: 0, y: 0, z: 0}
         tangentMode: 0
         weightedMode: 0
@@ -218,63 +182,18 @@ AnimationClip:
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         outWeight: {x: 0, y: 0.33333334, z: 0.33333334}
       - serializedVersion: 3
-        time: 0.083333336
+        time: 0.16666667
-        value: {x: 0, y: 0.0015, z: 0}
+        value: {x: 0, y: 0, z: 0}
         inSlope: {x: 0, y: -0.012, z: 0}
-        outSlope: {x: 0, y: -0.012, 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: 0.16666667
-        value: {x: 0, y: 0, z: 0}
-        inSlope: {x: 0, y: 0, z: 0}
-        outSlope: {x: 0, y: 0, z: 0}
-        tangentMode: 0
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-        inWeight: {x: 0.33333334, y: 0.33333334, z: 0.33333334}
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