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+folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/CreatureControl/Editor.meta b/CreatureControl/Editor.meta new file mode 100644 index 0000000..d9c13b1 --- /dev/null +++ b/CreatureControl/Editor.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 9d715489a5eda538a959b6e4cb89d1bc +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/CreatureControl/Editor/Scripts.meta b/CreatureControl/Editor/Scripts.meta new file mode 100644 index 0000000..dc23f72 --- /dev/null +++ b/CreatureControl/Editor/Scripts.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: c9680189a3ff3bf0c9d72edaa1aa07e4 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/CreatureControl/Editor/Scripts/Creature_Editor.cs b/CreatureControl/Editor/Scripts/Creature_Editor.cs new file mode 100644 index 0000000..706d242 --- /dev/null +++ b/CreatureControl/Editor/Scripts/Creature_Editor.cs @@ -0,0 +1,44 @@ +using UnityEditor; +using UnityEditor.SceneManagement; + +using UnityEngine; + +namespace Passer.CreatureControl { + + [CustomEditor(typeof(Creature), true)] + public class Creature_Editor : Editor { + + protected Creature creature; + + public virtual void OnEnable() { + creature = (Creature)target; + if (creature == null) + return; + + if (!IsPrefab(creature)) + InitTargets(creature); + } + + public static bool IsPrefab(Creature creature) { + PrefabStage prefabStage = PrefabStageUtility.GetPrefabStage(creature.gameObject); + return prefabStage != null; + } + + #region Targets + + protected virtual void InitTargets(Creature creature) { + TargetsRigInspector(creature, "TargetRig"); + } + + protected void TargetsRigInspector(Creature creature, string targetRigResourceName) { + Creature.CheckTargetRig(creature, targetRigResourceName); + + if (creature.targetRig.gameObject.hideFlags != HideFlags.None) { + creature.targetRig.gameObject.hideFlags = HideFlags.None; + EditorApplication.DirtyHierarchyWindowSorting(); + } + } + } + + #endregion Targets +} \ No newline at end of file diff --git a/CreatureControl/Editor/Scripts/Creature_Editor.cs.meta b/CreatureControl/Editor/Scripts/Creature_Editor.cs.meta new file mode 100644 index 0000000..c2b14b6 --- /dev/null +++ b/CreatureControl/Editor/Scripts/Creature_Editor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: e21e842527e8292c1a7002c75825bc7b +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/CreatureControl/Editor/Scripts/Insect.meta b/CreatureControl/Editor/Scripts/Insect.meta new file mode 100644 index 0000000..c45a9fb --- /dev/null +++ b/CreatureControl/Editor/Scripts/Insect.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 7e4dae7701b15cb018fbd090cc5c6c0b +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/CreatureControl/Editor/Scripts/Insect/Insect_Editor.cs b/CreatureControl/Editor/Scripts/Insect/Insect_Editor.cs new file mode 100644 index 0000000..2868a74 --- /dev/null +++ b/CreatureControl/Editor/Scripts/Insect/Insect_Editor.cs @@ -0,0 +1,79 @@ +using UnityEditor; +using UnityEngine; + +namespace Passer.CreatureControl { + + [CustomEditor(typeof(Insect), true)] + public class Insect_Editor : Creature_Editor { + protected Insect insect; + + public override void OnEnable() { + base.OnEnable(); + + insect = target as Insect; + } + + public override void OnInspectorGUI() { + EditorGUIUtility.wideMode = true; + + serializedObject.Update(); + + SerializedProperty targetRigProp = serializedObject.FindProperty(nameof(Creature.targetRig)); + targetRigProp.objectReferenceValue = (TargetRig)EditorGUILayout.ObjectField("Target Rig", targetRigProp.objectReferenceValue, typeof(TargetRig), true); + + TargetsInspector(insect); + // EditorGUILayout.Space(); + + // SerializedProperty leftFrontLegProp = serializedObject.FindProperty(nameof(Insect.leftFrontLeg)); + // Leg_Editor.Inspector(leftFrontLegProp); + // SerializedProperty leftMiddleLegProp = serializedObject.FindProperty(nameof(Insect.leftMiddleLeg)); + // Leg_Editor.Inspector(leftMiddleLegProp); + // SerializedProperty leftHindLegProp = serializedObject.FindProperty(nameof(Insect.leftHindLeg)); + // Leg_Editor.Inspector(leftHindLegProp); + + // SerializedProperty rightFrontLegProp = serializedObject.FindProperty(nameof(Insect.rightFrontLeg)); + // Leg_Editor.Inspector(rightFrontLegProp); + // SerializedProperty rightMiddleLegProp = serializedObject.FindProperty(nameof(Insect.rightMiddleLeg)); + // Leg_Editor.Inspector(rightMiddleLegProp); + // SerializedProperty rightHindLegProp = serializedObject.FindProperty(nameof(Insect.rightHindLeg)); + // Leg_Editor.Inspector(rightHindLegProp); + + serializedObject.ApplyModifiedProperties(); + } + + static bool showTargets; + private void TargetsInspector(Insect insect) { + GUIContent text = new( + "Targets", + "The target transforms controlling the body parts" + ); + showTargets = EditorGUILayout.Foldout(showTargets, text, true); + + if (showTargets) { + EditorGUI.indentLevel++; + SerializedProperty leftFrontLegProp = serializedObject.FindProperty(nameof(Insect.leftFrontLeg)); + Leg_Editor.Inspector(leftFrontLegProp); + SerializedProperty leftMiddleLegProp = serializedObject.FindProperty(nameof(Insect.leftMiddleLeg)); + Leg_Editor.Inspector(leftMiddleLegProp); + SerializedProperty leftHindLegProp = serializedObject.FindProperty(nameof(Insect.leftHindLeg)); + Leg_Editor.Inspector(leftHindLegProp); + + SerializedProperty rightFrontLegProp = serializedObject.FindProperty(nameof(Insect.rightFrontLeg)); + Leg_Editor.Inspector(rightFrontLegProp); + SerializedProperty rightMiddleLegProp = serializedObject.FindProperty(nameof(Insect.rightMiddleLeg)); + Leg_Editor.Inspector(rightMiddleLegProp); + SerializedProperty rightHindLegProp = serializedObject.FindProperty(nameof(Insect.rightHindLeg)); + Leg_Editor.Inspector(rightHindLegProp); + + // insect.headTarget = (HeadTarget)HumanoidTarget_Editor.Inspector(insect.headTarget, "Head Target"); + // insect.leftHandTarget = (HandTarget)HandTarget_Editor.Inspector(insect.leftHandTarget, "Left Hand Target"); + // insect.rightHandTarget = (HandTarget)HandTarget_Editor.Inspector(insect.rightHandTarget, "Right Hand Target"); + // insect.hipsTarget = (HipsTarget)HumanoidTarget_Editor.Inspector(insect.hipsTarget, "Hips Target"); + // insect.leftFootTarget = (FootTarget)FootTarget_Editor.Inspector(insect.leftFootTarget, "Left Foot Target"); + // insect.rightFootTarget = (FootTarget)FootTarget_Editor.Inspector(insect.rightFootTarget, "Right Foot Target"); + EditorGUI.indentLevel--; + } + } + } + +} \ No newline at end of file diff --git a/CreatureControl/Editor/Scripts/Insect/Insect_Editor.cs.meta b/CreatureControl/Editor/Scripts/Insect/Insect_Editor.cs.meta new file mode 100644 index 0000000..d64214e --- /dev/null +++ b/CreatureControl/Editor/Scripts/Insect/Insect_Editor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: fd27aa19166e492b582b506dc25eb605 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/CreatureControl/Editor/Scripts/Leg_Editor.cs b/CreatureControl/Editor/Scripts/Leg_Editor.cs new file mode 100644 index 0000000..20256d3 --- /dev/null +++ b/CreatureControl/Editor/Scripts/Leg_Editor.cs @@ -0,0 +1,75 @@ +using UnityEditor; +using UnityEngine; + +namespace Passer.CreatureControl { + + public class Leg_Editor { + //private string label = ""; + private static bool showfield = false; + + public void Enable() { + + } + + public static void Inspector(SerializedProperty legProp) { + GUIStyle foldoutStyle = new(EditorStyles.foldout) { + margin = EditorStyles.objectField.margin + }; + + EditorGUILayout.BeginHorizontal(); + string legName = ConvertCamelCase(legProp.name); + showfield = EditorGUILayout.Foldout(showfield, legName, true, foldoutStyle); + SerializedProperty femurProp = legProp.FindPropertyRelative(nameof(Leg.femur)); + SerializedProperty tibiaProp = legProp.FindPropertyRelative(nameof(Leg.tibia)); + SerializedProperty tarsusProp = legProp.FindPropertyRelative(nameof(Leg.tarsus)); + + Transform newFemur = (Transform)EditorGUILayout.ObjectField(femurProp.objectReferenceValue, typeof(Transform), true); + if (newFemur != femurProp.objectReferenceValue) { + femurProp.objectReferenceValue = newFemur; + if (newFemur != null) { + if (tibiaProp.objectReferenceValue == null && newFemur.childCount == 1) + tibiaProp.objectReferenceValue = newFemur.GetChild(0); + Transform tibia = (Transform)tibiaProp.objectReferenceValue; + if (tibia != null) { + if (tarsusProp.objectReferenceValue == null && tibia.childCount == 1) + tarsusProp.objectReferenceValue = tibia.GetChild(0); + } + } + } + EditorGUILayout.EndHorizontal(); + + if (femurProp.objectReferenceValue != null && tibiaProp.objectReferenceValue == null) + showfield = true; + + if (showfield) { + EditorGUI.indentLevel++; + tibiaProp.objectReferenceValue = (Transform)EditorGUILayout.ObjectField("Lower Leg", tibiaProp.objectReferenceValue, typeof(Transform), true); + tarsusProp.objectReferenceValue = (Transform)EditorGUILayout.ObjectField("Foot", tarsusProp.objectReferenceValue, typeof(Transform), true); + EditorGUI.indentLevel--; + } + } + + private static string ConvertCamelCase(string text) { + if (string.IsNullOrEmpty(text)) + return text; + + System.Text.StringBuilder result = new(); + + for (int i = 0; i < text.Length; i++) { + // Add a space before uppercase characters + if (char.IsUpper(text[i]) && i > 0) + result.Append(' '); + + // Add the character to the result + result.Append(text[i]); + } + + // Capitalize the first character of the result + if (result.Length > 0) + result[0] = char.ToUpper(result[0]); + + return result.ToString(); + } + } + +} \ No newline at end of file diff --git a/CreatureControl/Editor/Scripts/Leg_Editor.cs.meta b/CreatureControl/Editor/Scripts/Leg_Editor.cs.meta new file mode 100644 index 0000000..cffdc34 --- /dev/null +++ b/CreatureControl/Editor/Scripts/Leg_Editor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 32630932c64073f2d87d6502c6751fe1 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/CreatureControl/Runtime.meta b/CreatureControl/Runtime.meta new file mode 100644 index 0000000..d3c3653 --- /dev/null +++ b/CreatureControl/Runtime.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: ffcfc0e0e1a219581bc4d2bb33d40bd7 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/CreatureControl/Runtime/Scripts.meta b/CreatureControl/Runtime/Scripts.meta new file mode 100644 index 0000000..eb2907b --- /dev/null +++ b/CreatureControl/Runtime/Scripts.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: e7da2341c34bff8169b3669cc9e20463 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/CreatureControl/Runtime/Scripts/Creature.cs b/CreatureControl/Runtime/Scripts/Creature.cs new file mode 100644 index 0000000..8eec108 --- /dev/null +++ b/CreatureControl/Runtime/Scripts/Creature.cs @@ -0,0 +1,26 @@ +using UnityEngine; + +namespace Passer.CreatureControl { + +public class Creature : MonoBehaviour { + /// The target bones rig + /// The target bones rig contain the target pose of the creature + /// The creature movements will try to move the creature such that the target pose is reached + /// as closely as possible + public TargetRig targetRig; + + /// Match the target rig transform to the humanoid transform + public static void CheckTargetRig(Creature creature, string targetRigResourceName) { + if (creature.targetRig == null) { + GameObject targetsRigPrefab = Resources.Load(targetRigResourceName); + GameObject targetRig = Instantiate(targetsRigPrefab); + targetRig.name = "Target Rig"; + + targetRig.transform.SetPositionAndRotation(creature.transform.position, creature.transform.rotation); + targetRig.transform.SetParent(creature.transform); + creature.targetRig = targetRig.GetComponent(); + } + } +} + +} \ No newline at end of file diff --git a/CreatureControl/Runtime/Scripts/Creature.cs.meta b/CreatureControl/Runtime/Scripts/Creature.cs.meta new file mode 100644 index 0000000..44458bd --- /dev/null +++ b/CreatureControl/Runtime/Scripts/Creature.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 77c2897bce0332255bd076aab62e46d9 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/CreatureControl/Runtime/Scripts/Insect.meta b/CreatureControl/Runtime/Scripts/Insect.meta new file mode 100644 index 0000000..ef7c0a8 --- /dev/null +++ b/CreatureControl/Runtime/Scripts/Insect.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 85f3225e01cd157769e2faf0e722846f +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/CreatureControl/Runtime/Scripts/Insect/Insect.cs b/CreatureControl/Runtime/Scripts/Insect/Insect.cs new file mode 100644 index 0000000..44ceaaa --- /dev/null +++ b/CreatureControl/Runtime/Scripts/Insect/Insect.cs @@ -0,0 +1,13 @@ +namespace Passer.CreatureControl { + + public class Insect : Creature { + public Leg leftFrontLeg; + public Leg leftMiddleLeg; + public Leg leftHindLeg; + + public Leg rightFrontLeg; + public Leg rightMiddleLeg; + public Leg rightHindLeg; + + } +} \ No newline at end of file diff --git a/CreatureControl/Runtime/Scripts/Insect/Insect.cs.meta b/CreatureControl/Runtime/Scripts/Insect/Insect.cs.meta new file mode 100644 index 0000000..6033e51 --- /dev/null +++ b/CreatureControl/Runtime/Scripts/Insect/Insect.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 01b14620016fc2bfdb8a58d81e0396a3 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/CreatureControl/Runtime/Scripts/Leg.cs b/CreatureControl/Runtime/Scripts/Leg.cs new file mode 100644 index 0000000..8940f64 --- /dev/null +++ b/CreatureControl/Runtime/Scripts/Leg.cs @@ -0,0 +1,8 @@ +using UnityEngine; + +[System.Serializable] +public class Leg { + public Transform femur; // UpperLeg, Thigh + public Transform tibia; // LowerLeg, Shank + public Transform tarsus; // Foot +} \ No newline at end of file diff --git a/CreatureControl/Runtime/Scripts/Leg.cs.meta b/CreatureControl/Runtime/Scripts/Leg.cs.meta new file mode 100644 index 0000000..e8d6baf --- /dev/null +++ b/CreatureControl/Runtime/Scripts/Leg.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 90a2688565fe3b05aba7cc9f9d70168c +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/CreatureControl/Runtime/Scripts/LegTarget.cs b/CreatureControl/Runtime/Scripts/LegTarget.cs new file mode 100644 index 0000000..cf29c16 --- /dev/null +++ b/CreatureControl/Runtime/Scripts/LegTarget.cs @@ -0,0 +1,14 @@ +using UnityEngine; + +namespace Passer.CreatureControl { + + public class LegTarget : MonoBehaviour { + public TargetLeg leg; + + public virtual void OnDrawGizmosSelected() { + if (leg != null) + leg.OnDrawGizmosSelected(); + } + } + +} \ No newline at end of file diff --git a/CreatureControl/Runtime/Scripts/LegTarget.cs.meta b/CreatureControl/Runtime/Scripts/LegTarget.cs.meta new file mode 100644 index 0000000..b1529e4 --- /dev/null +++ b/CreatureControl/Runtime/Scripts/LegTarget.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: fda62ae0dd837da8cb37ba5c7396c6a3 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/CreatureControl/Runtime/Scripts/TargetLeg.cs b/CreatureControl/Runtime/Scripts/TargetLeg.cs new file mode 100644 index 0000000..8181d80 --- /dev/null +++ b/CreatureControl/Runtime/Scripts/TargetLeg.cs @@ -0,0 +1,168 @@ +using UnityEngine; + +namespace Passer.CreatureControl { + + [System.Serializable] + public class TargetLeg : MonoBehaviour { + public Transform femurTarget; // UpperLeg, Thigh + public Transform tibiaTarget; // LowerLeg, Shank + public Transform tarsusTarget; // Foot + + public Transform target; // for the tarsus + protected LegTarget legTarget; + + public Quaternion targetToBoneFemur; + public Quaternion targetToBoneTibia; + + public virtual void OnDrawGizmosSelected() { + if (target != null && legTarget == null) { + legTarget = target.GetComponent(); + if (legTarget == null) + legTarget = target.gameObject.AddComponent(); + legTarget.leg = this; + } + + Gizmos.color = Color.white; + if (this.femurTarget != null && this.tibiaTarget != null) + Gizmos.DrawLine(this.femurTarget.position, this.tibiaTarget.position); + if (tibiaTarget != null && this.tarsusTarget != null) + Gizmos.DrawLine(this.tibiaTarget.position, this.tarsusTarget.position); + + if (this.enabled) + PoseLimb(); + } + + public void PoseLimb() { + if (target == null) + return; + + Quaternion femurOrientation = FemurRotation(target.position); + Quaternion tibiaOrientation = TibiaRotation(target.position); + Quaternion tarsusrientation = TarsusRotation(target.rotation); + + SetFemurOrientation(femurTarget, femurOrientation); + SetTibiaOrientation(tibiaTarget, tibiaOrientation); + SetTarsusOrientation(tarsusTarget, tarsusrientation); + } + + protected Quaternion FemurRotation(Vector3 targetPosition) { + if (this.femurTarget == null || this.tibiaTarget == null || this.tarsusTarget == null) + return Quaternion.identity; + + Vector3 toTarget = targetPosition - this.femurTarget.position; + // Debug.DrawRay(femur.position, toTarget, Color.magenta); + float targetDistance = toTarget.magnitude; + float femurLength = Vector3.Distance(this.femurTarget.position, this.tibiaTarget.position); + float tibiaLength = Vector3.Distance(this.tibiaTarget.position, this.tarsusTarget.position); + + float hipAngle = CosineRule(targetDistance, femurLength, tibiaLength); + // NaN happens when the distance to the footTarget is longer than the length of the leg + // We will stretch the leg full then (angle = 0) + if (float.IsNaN(hipAngle)) + hipAngle = 0; + + Quaternion femurOrientation = Quaternion.LookRotation(toTarget, Vector3.up); + femurOrientation = Quaternion.AngleAxis(hipAngle, femurOrientation * Vector3.left) * femurOrientation; + // Debug.DrawRay(femur.position, femurOrientation * Vector3.forward, Color.blue); + // Debug.DrawRay(femur.position, femurOrientation * Vector3.up, Color.green); + + return femurOrientation; + } + + protected Quaternion TibiaRotation(Vector3 targetPosition) { + if (this.tibiaTarget == null) + return Quaternion.identity; + + Vector3 directionToTarget = targetPosition - this.tibiaTarget.position; + + Quaternion tibiaOrientation = Quaternion.LookRotation(directionToTarget, Vector3.up); // femur.up); + return tibiaOrientation; // In world space + } + + protected Quaternion TarsusRotation(Quaternion targetRotation) { + return targetRotation; + } + + + private void SetFemurOrientation(Transform bone, Quaternion orientation) { + if (this.femurTarget == null) + return; + // Debug.DrawRay(femur.position, orientation * Vector3.forward, Color.blue); + // Debug.DrawRay(femur.position, orientation * Vector3.up, Color.green); + bone.rotation = orientation; + } + + private void SetTibiaOrientation(Transform bone, Quaternion orientation) { + if (this.tibiaTarget == null) + return; + + bone.rotation = orientation; + } + + private void SetTarsusOrientation(Transform bone, Quaternion orientation) { + if (this.tarsusTarget == null) + return; + + bone.rotation = orientation; + } + + + // public void MatchToCreature(Transform femurBone, Transform tibiaBone, Transform tarsusBone) { + // TargetRig.MoveTargetToBone(femurTarget, femurBone); + // TargetRig.MoveTargetToBone(tibiaTarget, tibiaBone); + // TargetRig.MoveTargetToBone(tarsusTarget, tarsusBone); + // targetToBoneFemur = TargetRig.TargetToBoneRotation(femurBone, tibiaBone); + // targetToBoneTibia = TargetRig.TargetToBoneRotation(tibiaBone, tarsusBone); + // } + public void MatchToCreature(Leg leg) { + TargetRig.MoveTargetToBone(this.femurTarget, leg.femur); + TargetRig.MoveTargetToBone(this.tibiaTarget, leg.tibia); + TargetRig.MoveTargetToBone(this.tarsusTarget, leg.tarsus); + targetToBoneFemur = TargetRig.TargetToBoneRotation(leg.femur, leg.tibia); + targetToBoneTibia = TargetRig.TargetToBoneRotation(leg.tibia, leg.tarsus); + } + + public void UpdateFemur(Transform femurBone) { + if (femurBone == null || this.femurTarget == null) + return; + + femurBone.rotation = this.femurTarget.rotation * targetToBoneFemur; + } + + public void UpdateTibia(Transform tibiaBone) { + if (tibiaBone == null || this.tibiaTarget == null) + return; + + tibiaBone.rotation = this.tibiaTarget.rotation * targetToBoneTibia; + } + + // public void UpdateBones(Transform femurBone, Transform tibiaBone) { + // UpdateFemur(femurBone); + // UpdateTibia(tibiaBone); + // } + public void UpdateBones(Leg leg) { + UpdateFemur(leg.femur); + UpdateTibia(leg.tibia); + } + + #region Math + + public static float CosineRule(float a, float b, float c) { + float a2 = a * a; + float b2 = b * b; + float c2 = c * c; + + double angle = System.Math.Acos((a2 + b2 - c2) / (2 * a * b)) * Mathf.Rad2Deg; + if (double.IsNaN(angle)) + angle = 0; + return (float)angle; + } + + private static float Square(float x) { + return x * x; + } + + #endregion Math + } + +} \ No newline at end of file diff --git a/CreatureControl/Runtime/Scripts/TargetLeg.cs.meta b/CreatureControl/Runtime/Scripts/TargetLeg.cs.meta new file mode 100644 index 0000000..a1fe7c6 --- /dev/null +++ b/CreatureControl/Runtime/Scripts/TargetLeg.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: f3394e8da3685a263901c13e2a231279 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/CreatureControl/Runtime/Scripts/TargetRig.cs b/CreatureControl/Runtime/Scripts/TargetRig.cs new file mode 100644 index 0000000..cbaf349 --- /dev/null +++ b/CreatureControl/Runtime/Scripts/TargetRig.cs @@ -0,0 +1,81 @@ +using UnityEngine; + +namespace Passer.CreatureControl { + + // An insect target rig.... + public class TargetRig : MonoBehaviour { + public TargetLeg leftFrontLeg; + public TargetLeg leftMiddleLeg; + public TargetLeg leftBackLeg; + + public TargetLeg rightFrontLeg; + public TargetLeg rightMiddleLeg; + public TargetLeg rightBackLeg; + + public Animator animator; + + public void PoseLimbs() { + leftBackLeg.PoseLimb(); + leftMiddleLeg.PoseLimb(); + leftFrontLeg.PoseLimb(); + rightBackLeg.PoseLimb(); + rightMiddleLeg.PoseLimb(); + rightFrontLeg.PoseLimb(); + } + + public void MatchTo(Insect insect) { + if (insect == null) + return; + + if (leftFrontLeg != null && insect.leftFrontLeg != null) + leftFrontLeg.MatchToCreature(insect.leftFrontLeg); + if (leftMiddleLeg != null && insect.leftMiddleLeg != null) + leftMiddleLeg.MatchToCreature(insect.leftMiddleLeg); + if (leftBackLeg != null && insect.leftHindLeg != null) + leftBackLeg.MatchToCreature(insect.leftHindLeg); + + if (rightFrontLeg != null && insect.rightFrontLeg != null) + rightFrontLeg.MatchToCreature(insect.rightFrontLeg); + if (rightMiddleLeg != null && insect.rightMiddleLeg != null) + rightMiddleLeg.MatchToCreature(insect.rightMiddleLeg); + if (rightBackLeg != null && insect.rightHindLeg != null) + rightBackLeg.MatchToCreature(insect.rightHindLeg); + } + + public static void MoveTargetToBone(Transform target, Transform bone) { + if (target == null || bone == null) + return; + + target.position = bone.position; + } + + public static Quaternion TargetToBoneRotation(Transform bone, Transform nextBone) { + if (bone == null || nextBone == null) + return Quaternion.identity; + + Vector3 direction = nextBone.position - bone.position; + Quaternion targetRotation = Quaternion.LookRotation(direction, Vector3.up); + Quaternion toBoneRotation = Quaternion.Inverse(targetRotation) * bone.rotation; + return toBoneRotation; + } + + public static Quaternion TargetToBoneRotation(Transform target, Transform nextTarget, Transform bone) { + Vector3 direction = nextTarget.position - bone.position; + Quaternion targetRotation = Quaternion.LookRotation(direction, Vector3.up); + Quaternion toBoneRotation = Quaternion.Inverse(targetRotation) * bone.rotation; + return toBoneRotation; + } + + public static Quaternion TargetToBoneRotation_Debug(Transform target, Transform nextTarget, Transform bone) { + Vector3 direction = nextTarget.position - target.position; + Quaternion targetRotation = Quaternion.LookRotation(direction, Vector3.up); + Debug.DrawRay(bone.position, targetRotation * Vector3.forward, Color.blue); + Debug.DrawRay(bone.position, targetRotation * Vector3.up, Color.green); + + Quaternion toBoneRotation = Quaternion.Inverse(targetRotation) * bone.rotation; + Debug.Log($"{targetRotation.eulerAngles} {bone.rotation.eulerAngles} -> {toBoneRotation.eulerAngles}"); + return toBoneRotation; + } + } + +} \ No newline at end of file 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-[RequireComponent(typeof(NanoBrain))] -public class AnimatedAnt : MonoBehaviour { - private readonly float inertia = 0.2f; - private readonly float smellRadius = 1.0f; - private readonly float smellAngle = 80.0f; - - public GameObject homePheromonePrefab; - public GameObject foodPheromonePrefab; - - public AntennaTouch touchLeft; - public AntennaTouch touchRight; - - public NanoBrain nanoBrain; - // brain output - public Neuron hasFood; - // brain input - public Nucleus pheromoneSteering; - public Nucleus hitLeft; - public Nucleus hitRight; - public Nucleus beat; - public Receptor foodReceptor; - public Receptor homeReceptor; - - public new Rigidbody rigidbody; - public Animator animator; - public float forwardSpeed = 1; - public float rotationSpeed = 1; - public Vector3 linearVelocity; - public Vector3 angularVelocity; - - protected virtual void Awake() { - this.animator = GetComponentInChildren(); - if (this.animator == null && this.transform.parent != null) - this.animator = this.transform.parent.GetComponentInChildren(); - this.nanoBrain = GetComponentInChildren(); - - this.rigidbody = GetComponentInParent(); - this.rigidbody.isKinematic = false; - } - - - void Start() { - Cluster brain = this.nanoBrain.brain; - if (brain != null) { - // brain outputs - this.pheromoneSteering = brain.GetNucleus("Pheromone Steering"); - - - if (brain.GetNucleus("Home Pheromones") is Neuron homePheromones) - homePheromones.WhenFiring += PlaceHomePheromone; - if (brain.GetNucleus("Food Pheromones") is Neuron foodPheromones) - foodPheromones.WhenFiring += PlaceFoodPheromone; - - this.hasFood = brain.GetNucleus("Having Food") as Neuron; - // brain inputs - this.beat = brain.GetNucleus("Beat"); - this.hitLeft = brain.GetNucleus("Hit Left"); - this.hitRight = brain.GetNucleus("Hit Right"); - this.foodReceptor = brain.GetNucleus("Food Receptor") as Receptor; - this.homeReceptor = brain.GetNucleus("Home Receptor") as Receptor; - } - - this.linearVelocity = Vector3.forward; - - if (touchLeft != null) - touchLeft.touched += OnAntennaTouchLeft; - if (touchRight != null) - touchRight.touched += OnAntennaTouchRight; - - } - - void PlaceFoodPheromone() { - GameObject pheromoneObj = Instantiate(foodPheromonePrefab); - pheromoneObj.transform.position = this.transform.position; - } - void PlaceHomePheromone() { - GameObject pheromoneObj = Instantiate(homePheromonePrefab); - pheromoneObj.transform.position = this.transform.position; - } - - // Update is called once per frame - void Update() { - UpdateBeat(); - UpdateSmell(); - - if (this.nanoBrain == null || this.nanoBrain.brain == null || this.animator == null) - return; - - Vector3 localForce = nanoBrain.brain.defaultOutput.outputValue; - this.linearVelocity = (1 - inertia) * (Time.deltaTime * localForce.normalized) + inertia * this.linearVelocity; - this.linearVelocity = this.linearVelocity.normalized * 0.2f; - - // Vector3 linearVelocityWorld = this.transform.TransformVector(this.linearVelocity); - // this.rigidbody.linearVelocity = linearVelocityWorld; - this.animator.SetFloat("forward speed", this.linearVelocity.z * this.forwardSpeed); - - // Rotate towards the movement direction - if (this.linearVelocity != Vector3.zero) { - Quaternion targetRotation = Quaternion.LookRotation(this.linearVelocity); - Quaternion worldRotation = transform.rotation * targetRotation; - Quaternion deltaRotation = worldRotation * Quaternion.Inverse(transform.rotation); - - Vector3 eulerAngleChange = deltaRotation.eulerAngles; - // Normalize the Euler angles to avoid unexpected jumps due to 360-degree rotations - eulerAngleChange = new Vector3( - LinearAlgebra.Angles.Normalize(eulerAngleChange.x), - LinearAlgebra.Angles.Normalize(eulerAngleChange.y), - LinearAlgebra.Angles.Normalize(eulerAngleChange.z) - ); - - Vector3 angularVelocity = 5f * Mathf.Deg2Rad * eulerAngleChange; - //rigidbody.angularVelocity = angularVelocity; - this.animator.SetFloat("rotate speed", eulerAngleChange.y / 45 * this.rotationSpeed); - } - } - - public float beatInterval = 3; - float lastBeatTime = 0; - void UpdateBeat() { - if (lastBeatTime == 0) { - ulong delay = (ulong)(UnityEngine.Random.value * beatInterval); - lastBeatTime = Time.time - delay; - } - if (Time.time - lastBeatTime >= beatInterval) { - lastBeatTime = Time.time; - beat?.SetBias(Vector3.one); //, 0); - } - } - - void UpdateSmell() { - // To generate random basic movement, we add a small with a random direction with low intensity - float randomAngle = Random.Range(-smellAngle, smellAngle); - Vector3 randomDirection = Quaternion.AngleAxis(randomAngle, Vector3.up) * Vector3.forward * 0.01f; - pheromoneSteering?.SetBias(randomDirection); //, 0, "random"); - - Collider[] colliders = Physics.OverlapSphere(this.transform.position, smellRadius); - foreach (Collider collider in colliders) { - SmellPheromones(collider); - SmellFood(collider); - SmellHome(collider); - } - if (nanoBrain != null && nanoBrain.brain != null) - nanoBrain.brain.UpdateNuclei(); - } - - void SmellPheromones(Collider thing) { - Pheromone pheromone = thing.GetComponentInParent(); - if (pheromone == null) - return; - // if (hasFood == null) - // return; - - // if ((hasFood.outputValue.x > 0 && pheromone.type == Pheromone.Type.Home) || - // (hasFood.outputValue.x < 0 && pheromone.type == Pheromone.Type.Food)) { - - // Vector3 smellDirection = this.transform.InverseTransformPoint(pheromone.transform.position); - // float distance = smellDirection.magnitude; - // float angle = Vector3.Angle(Vector3.forward, smellDirection); - // if (angle < smellAngle && smellDirection.magnitude > 0.05) { - // float intensity = pheromone.StrengthAt(distance);//strength * (1 / distance); - // pheromoneSteering?.ProcessStimulus(pheromone.GetInstanceID(), smellDirection.normalized * intensity, - // pheromone.type.ToString() + " pheromone"); - // //Debug.DrawLine(this.transform.position, pheromone.transform.position, Color.magenta); - // } - // } - - Vector3 smellDirection = this.transform.InverseTransformPoint(pheromone.transform.position); - float distance = smellDirection.magnitude; - float angle = Vector3.Angle(Vector3.forward, smellDirection); - if (angle < smellAngle && smellDirection.magnitude > 0.05) { - float intensity = pheromone.StrengthAt(distance); - Vector3 smell = smellDirection.normalized * intensity; - switch (pheromone.type) { - case Pheromone.Type.Food: - //foodSmell?.ProcessStimulus(pheromone.GetInstanceID(), smell, "food pheromone"); - foodReceptor?.ProcessStimulus(smellDirection.normalized * intensity, pheromone.GetInstanceID(), "food pheromone"); - break; - case Pheromone.Type.Home: - //pheromoneSteering?.ProcessStimulus(pheromone.GetInstanceID(), smell, "home pheromone"); - //homeSmell?.ProcessStimulus(pheromone.GetInstanceID(), smell, "home pheromone"); - homeReceptor?.ProcessStimulus(smellDirection.normalized * intensity, pheromone.GetInstanceID(), "home pheromone"); - break; - } - //Debug.DrawLine(this.transform.position, pheromone.transform.position, Color.magenta); - } - - } - - void SmellFood(Collider thing) { - if (hasFood != null && hasFood.outputValue.x > 0) - // if it has food... - return; - - Food food = thing.GetComponentInParent(); - if (food == null) - return; - - Vector3 smellDirection = this.transform.InverseTransformPoint(food.transform.position); - float distance = smellDirection.magnitude; - float angle = Vector3.Angle(Vector3.forward, smellDirection); - if (angle < smellAngle && distance > 0.05) { - float intensity = food.StrengthAt(distance); //strength * (1 / distance); - //foodSmell?.ProcessStimulus(food.GetInstanceID(), smellDirection.normalized * intensity, "food"); - foodReceptor?.ProcessStimulus(smellDirection.normalized * intensity, food.GetInstanceID(), "food"); - Debug.DrawLine(this.transform.position, food.transform.position, Color.red); - } - } - - void SmellHome(Collider thing) { - if (hasFood != null && hasFood.outputValue.x < 0) - // if it does not have food.... - return; - - AntsNest nest = thing.GetComponentInParent(); - if (nest == null) - return; - - Vector3 smellDirection = this.transform.InverseTransformPoint(nest.transform.position); - float distance = smellDirection.magnitude; - float angle = Vector3.Angle(Vector3.forward, smellDirection); - if (angle < smellAngle && distance > 0.05) { - float intensity = nest.StrengthAt(distance); //strength * (1 / distance); - //homeSmell?.ProcessStimulus(nest.GetInstanceID(), smellDirection.normalized * intensity, "nest"); - Vector3 value = smellDirection.normalized * intensity; - homeReceptor?.ProcessStimulus(value, nest.GetInstanceID(), "nest"); - Debug.DrawLine(this.transform.position, nest.transform.position, Color.red); - } - } - - void OnAntennaTouchLeft(Collider other, bool isTouching) { - Vector3 touchDirection = Vector3.zero; - if (isTouching) - touchDirection = this.transform.InverseTransformVector(touchLeft.transform.forward); - hitLeft?.SetBias(touchDirection); //, other.GetInstanceID(), "Touch Left"); - } - void OnAntennaTouchRight(Collider other, bool isTouching) { - Vector3 touchDirection = Vector3.zero; - if (isTouching) - touchDirection = this.transform.InverseTransformVector(touchRight.transform.forward); - hitRight?.SetBias(touchDirection); //, other.GetInstanceID(), "Touch Right"); - } -} diff --git a/Runtime/Scripts/Ant.cs b/Runtime/Scripts/Ant.cs new file mode 100644 index 0000000..fd11334 --- /dev/null +++ b/Runtime/Scripts/Ant.cs @@ -0,0 +1,249 @@ +using System.Collections.Generic; +using UnityEngine; + +namespace Passer.CreatureControl { + + [RequireComponent(typeof(NanoBrain))] + public class Ant : Insect { + private readonly float inertia = 0.2f; + private readonly float smellRadius = 1.0f; + private readonly float smellAngle = 80.0f; + + public GameObject homePheromonePrefab; + public GameObject foodPheromonePrefab; + + public AntennaTouch touchLeft; + public AntennaTouch touchRight; + + public NanoBrain nanoBrain; + // brain output + public Neuron hasFood; + // brain input + public Nucleus pheromoneSteering; + public Nucleus hitLeft; + public Nucleus hitRight; + public Nucleus beat; + public Receptor foodReceptor; + public Receptor homeReceptor; + + public new Rigidbody rigidbody; + public Animator animator; + public float forwardSpeed = 1; + public float rotationSpeed = 1; + public Vector3 linearVelocity; + public Vector3 angularVelocity; + + protected virtual void Awake() { + this.animator = GetComponentInChildren(); + if (this.animator == null && this.transform.parent != null) + this.animator = this.transform.parent.GetComponentInChildren(); + this.nanoBrain = GetComponentInChildren(); + + this.rigidbody = GetComponentInParent(); + this.rigidbody.isKinematic = false; + } + + + void Start() { + Cluster brain = this.nanoBrain.brain; + if (brain != null) { + // brain outputs + this.pheromoneSteering = brain.GetNucleus("Pheromone Steering"); + + + if (brain.GetNucleus("Home Pheromones") is Neuron homePheromones) + homePheromones.WhenFiring += PlaceHomePheromone; + if (brain.GetNucleus("Food Pheromones") is Neuron foodPheromones) + foodPheromones.WhenFiring += PlaceFoodPheromone; + + this.hasFood = brain.GetNucleus("Having Food") as Neuron; + // brain inputs + this.beat = brain.GetNucleus("Beat"); + this.hitLeft = brain.GetNucleus("Hit Left"); + this.hitRight = brain.GetNucleus("Hit Right"); + this.foodReceptor = brain.GetNucleus("Food Receptor") as Receptor; + this.homeReceptor = brain.GetNucleus("Home Receptor") as Receptor; + } + + this.linearVelocity = Vector3.forward; + + if (touchLeft != null) + touchLeft.touched += OnAntennaTouchLeft; + if (touchRight != null) + touchRight.touched += OnAntennaTouchRight; + + } + + void PlaceFoodPheromone() { + GameObject pheromoneObj = Instantiate(foodPheromonePrefab); + pheromoneObj.transform.position = this.transform.position; + } + void PlaceHomePheromone() { + GameObject pheromoneObj = Instantiate(homePheromonePrefab); + pheromoneObj.transform.position = this.transform.position; + } + + // Update is called once per frame + void Update() { + UpdateBeat(); + UpdateSmell(); + + if (this.nanoBrain == null || this.nanoBrain.brain == null || this.animator == null) + return; + + Vector3 localForce = nanoBrain.brain.defaultOutput.outputValue; + this.linearVelocity = (1 - inertia) * (Time.deltaTime * localForce.normalized) + inertia * this.linearVelocity; + this.linearVelocity = this.linearVelocity.normalized * 0.2f; + + // Vector3 linearVelocityWorld = this.transform.TransformVector(this.linearVelocity); + // this.rigidbody.linearVelocity = linearVelocityWorld; + this.animator.SetFloat("forward speed", this.linearVelocity.z * this.forwardSpeed); + + // Rotate towards the movement direction + if (this.linearVelocity != Vector3.zero) { + Quaternion targetRotation = Quaternion.LookRotation(this.linearVelocity); + Quaternion worldRotation = transform.rotation * targetRotation; + Quaternion deltaRotation = worldRotation * Quaternion.Inverse(transform.rotation); + + Vector3 eulerAngleChange = deltaRotation.eulerAngles; + // Normalize the Euler angles to avoid unexpected jumps due to 360-degree rotations + eulerAngleChange = new Vector3( + LinearAlgebra.Angles.Normalize(eulerAngleChange.x), + LinearAlgebra.Angles.Normalize(eulerAngleChange.y), + LinearAlgebra.Angles.Normalize(eulerAngleChange.z) + ); + + Vector3 angularVelocity = 5f * Mathf.Deg2Rad * eulerAngleChange; + //rigidbody.angularVelocity = angularVelocity; + this.animator.SetFloat("rotate speed", eulerAngleChange.y / 45 * this.rotationSpeed); + } + } + + public float beatInterval = 3; + float lastBeatTime = 0; + void UpdateBeat() { + if (lastBeatTime == 0) { + ulong delay = (ulong)(UnityEngine.Random.value * beatInterval); + lastBeatTime = Time.time - delay; + } + if (Time.time - lastBeatTime >= beatInterval) { + lastBeatTime = Time.time; + beat?.SetBias(Vector3.one); //, 0); + } + } + + void UpdateSmell() { + // To generate random basic movement, we add a small with a random direction with low intensity + float randomAngle = Random.Range(-smellAngle, smellAngle); + Vector3 randomDirection = Quaternion.AngleAxis(randomAngle, Vector3.up) * Vector3.forward * 0.01f; + pheromoneSteering?.SetBias(randomDirection); //, 0, "random"); + + Collider[] colliders = Physics.OverlapSphere(this.transform.position, smellRadius); + foreach (Collider collider in colliders) { + SmellPheromones(collider); + SmellFood(collider); + SmellHome(collider); + } + if (nanoBrain != null && nanoBrain.brain != null) + nanoBrain.brain.UpdateNuclei(); + } + + void SmellPheromones(Collider thing) { + Pheromone pheromone = thing.GetComponentInParent(); + if (pheromone == null) + return; + // if (hasFood == null) + // return; + + // if ((hasFood.outputValue.x > 0 && pheromone.type == Pheromone.Type.Home) || + // (hasFood.outputValue.x < 0 && pheromone.type == Pheromone.Type.Food)) { + + // Vector3 smellDirection = this.transform.InverseTransformPoint(pheromone.transform.position); + // float distance = smellDirection.magnitude; + // float angle = Vector3.Angle(Vector3.forward, smellDirection); + // if (angle < smellAngle && smellDirection.magnitude > 0.05) { + // float intensity = pheromone.StrengthAt(distance);//strength * (1 / distance); + // pheromoneSteering?.ProcessStimulus(pheromone.GetInstanceID(), smellDirection.normalized * intensity, + // pheromone.type.ToString() + " pheromone"); + // //Debug.DrawLine(this.transform.position, pheromone.transform.position, Color.magenta); + // } + // } + + Vector3 smellDirection = this.transform.InverseTransformPoint(pheromone.transform.position); + float distance = smellDirection.magnitude; + float angle = Vector3.Angle(Vector3.forward, smellDirection); + if (angle < smellAngle && smellDirection.magnitude > 0.05) { + float intensity = pheromone.StrengthAt(distance); + Vector3 smell = smellDirection.normalized * intensity; + switch (pheromone.type) { + case Pheromone.Type.Food: + //foodSmell?.ProcessStimulus(pheromone.GetInstanceID(), smell, "food pheromone"); + foodReceptor?.ProcessStimulus(smellDirection.normalized * intensity, pheromone.GetInstanceID(), "food pheromone"); + break; + case Pheromone.Type.Home: + //pheromoneSteering?.ProcessStimulus(pheromone.GetInstanceID(), smell, "home pheromone"); + //homeSmell?.ProcessStimulus(pheromone.GetInstanceID(), smell, "home pheromone"); + homeReceptor?.ProcessStimulus(smellDirection.normalized * intensity, pheromone.GetInstanceID(), "home pheromone"); + break; + } + //Debug.DrawLine(this.transform.position, pheromone.transform.position, Color.magenta); + } + + } + + void SmellFood(Collider thing) { + if (hasFood != null && hasFood.outputValue.x > 0) + // if it has food... + return; + + Food food = thing.GetComponentInParent(); + if (food == null) + return; + + Vector3 smellDirection = this.transform.InverseTransformPoint(food.transform.position); + float distance = smellDirection.magnitude; + float angle = Vector3.Angle(Vector3.forward, smellDirection); + if (angle < smellAngle && distance > 0.05) { + float intensity = food.StrengthAt(distance); //strength * (1 / distance); + //foodSmell?.ProcessStimulus(food.GetInstanceID(), smellDirection.normalized * intensity, "food"); + foodReceptor?.ProcessStimulus(smellDirection.normalized * intensity, food.GetInstanceID(), "food"); + Debug.DrawLine(this.transform.position, food.transform.position, Color.red); + } + } + + void SmellHome(Collider thing) { + if (hasFood != null && hasFood.outputValue.x < 0) + // if it does not have food.... + return; + + AntsNest nest = thing.GetComponentInParent(); + if (nest == null) + return; + + Vector3 smellDirection = this.transform.InverseTransformPoint(nest.transform.position); + float distance = smellDirection.magnitude; + float angle = Vector3.Angle(Vector3.forward, smellDirection); + if (angle < smellAngle && distance > 0.05) { + float intensity = nest.StrengthAt(distance); //strength * (1 / distance); + //homeSmell?.ProcessStimulus(nest.GetInstanceID(), smellDirection.normalized * intensity, "nest"); + Vector3 value = smellDirection.normalized * intensity; + homeReceptor?.ProcessStimulus(value, nest.GetInstanceID(), "nest"); + Debug.DrawLine(this.transform.position, nest.transform.position, Color.red); + } + } + + void OnAntennaTouchLeft(Collider other, bool isTouching) { + Vector3 touchDirection = Vector3.zero; + if (isTouching) + touchDirection = this.transform.InverseTransformVector(touchLeft.transform.forward); + hitLeft?.SetBias(touchDirection); //, other.GetInstanceID(), "Touch Left"); + } + void OnAntennaTouchRight(Collider other, bool isTouching) { + Vector3 touchDirection = Vector3.zero; + if (isTouching) + touchDirection = this.transform.InverseTransformVector(touchRight.transform.forward); + hitRight?.SetBias(touchDirection); //, other.GetInstanceID(), "Touch Right"); + } + } + +} \ No newline at end of file diff --git a/Runtime/Scripts/AnimatedAnt.cs.meta b/Runtime/Scripts/Ant.cs.meta similarity index 100% rename from Runtime/Scripts/AnimatedAnt.cs.meta rename to Runtime/Scripts/Ant.cs.meta diff --git a/Runtime/Scripts/AntsNest.cs b/Runtime/Scripts/AntsNest.cs index 64a3d0c..3838c25 100644 --- a/Runtime/Scripts/AntsNest.cs +++ b/Runtime/Scripts/AntsNest.cs @@ -1,32 +1,36 @@ using System.Collections; using UnityEngine; -public class AntsNest : Odorant { +namespace Passer.CreatureControl { - public Ant antPrefab; - public uint numberOfAnts = 1; - public bool spawnAnt = false; + public class AntsNest : Odorant { - private uint antCount = 0; - protected virtual void Start() { - StartCoroutine(SpawnAnts()); - } - IEnumerator SpawnAnts() { - while (numberOfAnts > 0) { - Ant ant = Instantiate(antPrefab); - ant.transform.eulerAngles = 360 * Random.value * Vector3.up; - ant.transform.position = this.transform.position + ant.transform.forward * 0.1F; - ant.name = "Ant " + (++antCount); - numberOfAnts--; - yield return new WaitForSeconds(0.2f); + public Ant antPrefab; + public uint numberOfAnts = 1; + public bool spawnAnt = false; + + private uint antCount = 0; + protected virtual void Start() { + StartCoroutine(SpawnAnts()); + } + IEnumerator SpawnAnts() { + while (numberOfAnts > 0) { + Ant ant = Instantiate(antPrefab); + ant.transform.eulerAngles = 360 * Random.value * Vector3.up; + ant.transform.position = this.transform.position + ant.transform.forward * 0.1F; + ant.name = "Ant " + (++antCount); + numberOfAnts--; + yield return new WaitForSeconds(0.2f); + } + } + + protected virtual void Update() { + if (spawnAnt) { + Ant ant = Instantiate(antPrefab); + ant.name = "Ant " + (++antCount); + spawnAnt = false; + } } } - protected virtual void Update() { - if (spawnAnt) { - Ant ant = Instantiate(antPrefab); - ant.name = "Ant " + (++antCount); - spawnAnt = false; - } - } -} +} \ No newline at end of file diff --git a/Runtime/Scripts/Mouth.cs b/Runtime/Scripts/Mouth.cs index a05de44..fcf836c 100644 --- a/Runtime/Scripts/Mouth.cs +++ b/Runtime/Scripts/Mouth.cs @@ -1,64 +1,68 @@ using System.Collections.Generic; using UnityEngine; -public class Mouth : MonoBehaviour { - public GameObject foodPrefab; - public NanoBrain nanoBrain; +namespace Passer.CreatureControl { - public Neuron havingFood; - public Nucleus enableFoodPheromones; + public class Mouth : MonoBehaviour { + public GameObject foodPrefab; + public NanoBrain nanoBrain; - void Awake() { - this.nanoBrain = GetComponentInParent(); - if (this.nanoBrain == null || this.nanoBrain.brain == null) - return; - - if (nanoBrain.brain.GetNucleus("Mouth") is Neuron mouthNeuron) - mouthNeuron.WhenFiring += CheckGrab; - this.havingFood = nanoBrain.brain.GetNucleus("Having Food") as Neuron; - } + public Neuron havingFood; + public Nucleus enableFoodPheromones; - void Start() { - havingFood?.SetBias(-Vector3.one); - } + void Awake() { + this.nanoBrain = GetComponentInParent(); + if (this.nanoBrain == null || this.nanoBrain.brain == null) + return; - protected void CheckGrab() { - if (havingFood == null) - return; - Collider[] colliders = Physics.OverlapSphere(this.transform.position, 0.04f); - foreach (Collider c in colliders) { - if (havingFood.outputValue.x > 0) { - AntsNest nest = c.GetComponentInParent(); - if (nest != null) - LetGo(); - } - else { - Food food = c.GetComponentInParent(); - if (food != null) - Grab(); + if (nanoBrain.brain.GetNucleus("Mouth") is Neuron mouthNeuron) + mouthNeuron.WhenFiring += CheckGrab; + this.havingFood = nanoBrain.brain.GetNucleus("Having Food") as Neuron; + } + + void Start() { + havingFood?.SetBias(-Vector3.one); + } + + protected void CheckGrab() { + if (havingFood == null) + return; + Collider[] colliders = Physics.OverlapSphere(this.transform.position, 0.04f); + foreach (Collider c in colliders) { + if (havingFood.outputValue.x > 0) { + AntsNest nest = c.GetComponentInParent(); + if (nest != null) + LetGo(); + } + else { + Food food = c.GetComponentInParent(); + if (food != null) + Grab(); + } } } + + public bool Grab() { + //Debug.Log($"{this.transform.parent.name} Grab food"); + havingFood?.SetBias(Vector3.one); + GameObject food = Instantiate(foodPrefab); + + food.transform.SetParent(this.transform, false); + food.transform.localPosition = Vector3.zero; + return true; + } + + public void LetGo() { + //Debug.Log($"{this.transform.parent.name} Release food"); + + List toDelete = new(); + for (int i = 0; i < transform.childCount; i++) + toDelete.Add(transform.GetChild(i).gameObject); + foreach (GameObject go in toDelete) + Destroy(go); + + havingFood?.SetBias(-Vector3.one); + } } - public bool Grab() { - //Debug.Log($"{this.transform.parent.name} Grab food"); - havingFood?.SetBias(Vector3.one); - GameObject food = Instantiate(foodPrefab); - - food.transform.SetParent(this.transform, false); - food.transform.localPosition = Vector3.zero; - return true; - } - - public void LetGo() { - //Debug.Log($"{this.transform.parent.name} Release food"); - - List toDelete = new(); - for (int i = 0; i < transform.childCount; i++) - toDelete.Add(transform.GetChild(i).gameObject); - foreach (GameObject go in toDelete) - Destroy(go); - - havingFood?.SetBias(-Vector3.one); - } -} +} \ No newline at end of file