Initial Ant setup
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146
Animation/AntAnimator.controller
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146
Animation/AntAnimator.controller
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Animation/AntAnimator.controller.meta
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1303
Animation/AntRotateLeft.anim
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1303
Animation/AntRotateLeft.anim
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Animation/AntRotateRight.anim
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1181
Animation/AntWalk.anim
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CreatureControl.meta
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CreatureControl/Editor/Scripts.meta
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44
CreatureControl/Editor/Scripts/Creature_Editor.cs
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44
CreatureControl/Editor/Scripts/Creature_Editor.cs
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using UnityEditor;
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using UnityEditor.SceneManagement;
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using UnityEngine;
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namespace Passer.CreatureControl {
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[CustomEditor(typeof(Creature), true)]
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public class Creature_Editor : Editor {
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protected Creature creature;
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public virtual void OnEnable() {
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creature = (Creature)target;
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if (creature == null)
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return;
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if (!IsPrefab(creature))
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InitTargets(creature);
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}
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public static bool IsPrefab(Creature creature) {
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PrefabStage prefabStage = PrefabStageUtility.GetPrefabStage(creature.gameObject);
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return prefabStage != null;
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}
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#region Targets
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protected virtual void InitTargets(Creature creature) {
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TargetsRigInspector(creature, "TargetRig");
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}
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protected void TargetsRigInspector(Creature creature, string targetRigResourceName) {
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Creature.CheckTargetRig(creature, targetRigResourceName);
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if (creature.targetRig.gameObject.hideFlags != HideFlags.None) {
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creature.targetRig.gameObject.hideFlags = HideFlags.None;
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EditorApplication.DirtyHierarchyWindowSorting();
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}
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}
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}
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#endregion Targets
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}
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11
CreatureControl/Editor/Scripts/Creature_Editor.cs.meta
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8
CreatureControl/Editor/Scripts/Insect.meta
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8
CreatureControl/Editor/Scripts/Insect.meta
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79
CreatureControl/Editor/Scripts/Insect/Insect_Editor.cs
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CreatureControl/Editor/Scripts/Insect/Insect_Editor.cs
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using UnityEditor;
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using UnityEngine;
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namespace Passer.CreatureControl {
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[CustomEditor(typeof(Insect), true)]
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public class Insect_Editor : Creature_Editor {
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protected Insect insect;
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public override void OnEnable() {
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base.OnEnable();
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insect = target as Insect;
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}
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public override void OnInspectorGUI() {
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EditorGUIUtility.wideMode = true;
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serializedObject.Update();
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SerializedProperty targetRigProp = serializedObject.FindProperty(nameof(Creature.targetRig));
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targetRigProp.objectReferenceValue = (TargetRig)EditorGUILayout.ObjectField("Target Rig", targetRigProp.objectReferenceValue, typeof(TargetRig), true);
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TargetsInspector(insect);
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// EditorGUILayout.Space();
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// SerializedProperty leftFrontLegProp = serializedObject.FindProperty(nameof(Insect.leftFrontLeg));
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// Leg_Editor.Inspector(leftFrontLegProp);
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// SerializedProperty leftMiddleLegProp = serializedObject.FindProperty(nameof(Insect.leftMiddleLeg));
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// Leg_Editor.Inspector(leftMiddleLegProp);
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// SerializedProperty leftHindLegProp = serializedObject.FindProperty(nameof(Insect.leftHindLeg));
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// Leg_Editor.Inspector(leftHindLegProp);
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// SerializedProperty rightFrontLegProp = serializedObject.FindProperty(nameof(Insect.rightFrontLeg));
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// Leg_Editor.Inspector(rightFrontLegProp);
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// SerializedProperty rightMiddleLegProp = serializedObject.FindProperty(nameof(Insect.rightMiddleLeg));
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// Leg_Editor.Inspector(rightMiddleLegProp);
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// SerializedProperty rightHindLegProp = serializedObject.FindProperty(nameof(Insect.rightHindLeg));
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// Leg_Editor.Inspector(rightHindLegProp);
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serializedObject.ApplyModifiedProperties();
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}
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static bool showTargets;
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private void TargetsInspector(Insect insect) {
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GUIContent text = new(
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"Targets",
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"The target transforms controlling the body parts"
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);
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showTargets = EditorGUILayout.Foldout(showTargets, text, true);
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if (showTargets) {
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EditorGUI.indentLevel++;
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SerializedProperty leftFrontLegProp = serializedObject.FindProperty(nameof(Insect.leftFrontLeg));
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Leg_Editor.Inspector(leftFrontLegProp);
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SerializedProperty leftMiddleLegProp = serializedObject.FindProperty(nameof(Insect.leftMiddleLeg));
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Leg_Editor.Inspector(leftMiddleLegProp);
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SerializedProperty leftHindLegProp = serializedObject.FindProperty(nameof(Insect.leftHindLeg));
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Leg_Editor.Inspector(leftHindLegProp);
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SerializedProperty rightFrontLegProp = serializedObject.FindProperty(nameof(Insect.rightFrontLeg));
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Leg_Editor.Inspector(rightFrontLegProp);
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SerializedProperty rightMiddleLegProp = serializedObject.FindProperty(nameof(Insect.rightMiddleLeg));
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Leg_Editor.Inspector(rightMiddleLegProp);
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SerializedProperty rightHindLegProp = serializedObject.FindProperty(nameof(Insect.rightHindLeg));
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Leg_Editor.Inspector(rightHindLegProp);
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// insect.headTarget = (HeadTarget)HumanoidTarget_Editor.Inspector(insect.headTarget, "Head Target");
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// insect.leftHandTarget = (HandTarget)HandTarget_Editor.Inspector(insect.leftHandTarget, "Left Hand Target");
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// insect.rightHandTarget = (HandTarget)HandTarget_Editor.Inspector(insect.rightHandTarget, "Right Hand Target");
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// insect.hipsTarget = (HipsTarget)HumanoidTarget_Editor.Inspector(insect.hipsTarget, "Hips Target");
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// insect.leftFootTarget = (FootTarget)FootTarget_Editor.Inspector(insect.leftFootTarget, "Left Foot Target");
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// insect.rightFootTarget = (FootTarget)FootTarget_Editor.Inspector(insect.rightFootTarget, "Right Foot Target");
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EditorGUI.indentLevel--;
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}
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}
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}
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}
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11
CreatureControl/Editor/Scripts/Insect/Insect_Editor.cs.meta
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CreatureControl/Editor/Scripts/Insect/Insect_Editor.cs.meta
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userData:
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75
CreatureControl/Editor/Scripts/Leg_Editor.cs
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CreatureControl/Editor/Scripts/Leg_Editor.cs
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using UnityEditor;
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using UnityEngine;
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namespace Passer.CreatureControl {
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public class Leg_Editor {
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//private string label = "";
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private static bool showfield = false;
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public void Enable() {
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}
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public static void Inspector(SerializedProperty legProp) {
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GUIStyle foldoutStyle = new(EditorStyles.foldout) {
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margin = EditorStyles.objectField.margin
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};
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EditorGUILayout.BeginHorizontal();
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string legName = ConvertCamelCase(legProp.name);
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showfield = EditorGUILayout.Foldout(showfield, legName, true, foldoutStyle);
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SerializedProperty femurProp = legProp.FindPropertyRelative(nameof(Leg.femur));
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SerializedProperty tibiaProp = legProp.FindPropertyRelative(nameof(Leg.tibia));
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SerializedProperty tarsusProp = legProp.FindPropertyRelative(nameof(Leg.tarsus));
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Transform newFemur = (Transform)EditorGUILayout.ObjectField(femurProp.objectReferenceValue, typeof(Transform), true);
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if (newFemur != femurProp.objectReferenceValue) {
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femurProp.objectReferenceValue = newFemur;
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if (newFemur != null) {
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if (tibiaProp.objectReferenceValue == null && newFemur.childCount == 1)
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tibiaProp.objectReferenceValue = newFemur.GetChild(0);
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Transform tibia = (Transform)tibiaProp.objectReferenceValue;
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if (tibia != null) {
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if (tarsusProp.objectReferenceValue == null && tibia.childCount == 1)
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tarsusProp.objectReferenceValue = tibia.GetChild(0);
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}
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}
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}
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EditorGUILayout.EndHorizontal();
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if (femurProp.objectReferenceValue != null && tibiaProp.objectReferenceValue == null)
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showfield = true;
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if (showfield) {
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EditorGUI.indentLevel++;
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||||
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();
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
11
CreatureControl/Editor/Scripts/Leg_Editor.cs.meta
Normal file
11
CreatureControl/Editor/Scripts/Leg_Editor.cs.meta
Normal file
@ -0,0 +1,11 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 32630932c64073f2d87d6502c6751fe1
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
userData:
|
||||
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|
||||
assetBundleVariant:
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||||
8
CreatureControl/Runtime.meta
Normal file
8
CreatureControl/Runtime.meta
Normal file
@ -0,0 +1,8 @@
|
||||
fileFormatVersion: 2
|
||||
guid: ffcfc0e0e1a219581bc4d2bb33d40bd7
|
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||||
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|
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userData:
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|
||||
assetBundleVariant:
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||||
8
CreatureControl/Runtime/Scripts.meta
Normal file
8
CreatureControl/Runtime/Scripts.meta
Normal file
@ -0,0 +1,8 @@
|
||||
fileFormatVersion: 2
|
||||
guid: e7da2341c34bff8169b3669cc9e20463
|
||||
folderAsset: yes
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assetBundleVariant:
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||||
26
CreatureControl/Runtime/Scripts/Creature.cs
Normal file
26
CreatureControl/Runtime/Scripts/Creature.cs
Normal file
@ -0,0 +1,26 @@
|
||||
using UnityEngine;
|
||||
|
||||
namespace Passer.CreatureControl {
|
||||
|
||||
public class Creature : MonoBehaviour {
|
||||
/// <summary>The target bones rig</summary>
|
||||
/// 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;
|
||||
|
||||
/// <summary>Match the target rig transform to the humanoid transform</summary>
|
||||
public static void CheckTargetRig(Creature creature, string targetRigResourceName) {
|
||||
if (creature.targetRig == null) {
|
||||
GameObject targetsRigPrefab = Resources.Load<GameObject>(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<TargetRig>();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
11
CreatureControl/Runtime/Scripts/Creature.cs.meta
Normal file
11
CreatureControl/Runtime/Scripts/Creature.cs.meta
Normal file
@ -0,0 +1,11 @@
|
||||
fileFormatVersion: 2
|
||||
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|
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|
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|
||||
userData:
|
||||
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|
||||
assetBundleVariant:
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||||
8
CreatureControl/Runtime/Scripts/Insect.meta
Normal file
8
CreatureControl/Runtime/Scripts/Insect.meta
Normal file
@ -0,0 +1,8 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 85f3225e01cd157769e2faf0e722846f
|
||||
folderAsset: yes
|
||||
DefaultImporter:
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||||
externalObjects: {}
|
||||
userData:
|
||||
assetBundleName:
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||||
assetBundleVariant:
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||||
13
CreatureControl/Runtime/Scripts/Insect/Insect.cs
Normal file
13
CreatureControl/Runtime/Scripts/Insect/Insect.cs
Normal file
@ -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;
|
||||
|
||||
}
|
||||
}
|
||||
11
CreatureControl/Runtime/Scripts/Insect/Insect.cs.meta
Normal file
11
CreatureControl/Runtime/Scripts/Insect/Insect.cs.meta
Normal file
@ -0,0 +1,11 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 01b14620016fc2bfdb8a58d81e0396a3
|
||||
MonoImporter:
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externalObjects: {}
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||||
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|
||||
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|
||||
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|
||||
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|
||||
userData:
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||||
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assetBundleVariant:
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||||
8
CreatureControl/Runtime/Scripts/Leg.cs
Normal file
8
CreatureControl/Runtime/Scripts/Leg.cs
Normal file
@ -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
|
||||
}
|
||||
11
CreatureControl/Runtime/Scripts/Leg.cs.meta
Normal file
11
CreatureControl/Runtime/Scripts/Leg.cs.meta
Normal file
@ -0,0 +1,11 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 90a2688565fe3b05aba7cc9f9d70168c
|
||||
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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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||||
14
CreatureControl/Runtime/Scripts/LegTarget.cs
Normal file
14
CreatureControl/Runtime/Scripts/LegTarget.cs
Normal file
@ -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();
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
11
CreatureControl/Runtime/Scripts/LegTarget.cs.meta
Normal file
11
CreatureControl/Runtime/Scripts/LegTarget.cs.meta
Normal file
@ -0,0 +1,11 @@
|
||||
fileFormatVersion: 2
|
||||
guid: fda62ae0dd837da8cb37ba5c7396c6a3
|
||||
MonoImporter:
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|
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|
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||||
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assetBundleVariant:
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||||
168
CreatureControl/Runtime/Scripts/TargetLeg.cs
Normal file
168
CreatureControl/Runtime/Scripts/TargetLeg.cs
Normal file
@ -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<LegTarget>();
|
||||
if (legTarget == null)
|
||||
legTarget = target.gameObject.AddComponent<LegTarget>();
|
||||
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
|
||||
}
|
||||
|
||||
}
|
||||
11
CreatureControl/Runtime/Scripts/TargetLeg.cs.meta
Normal file
11
CreatureControl/Runtime/Scripts/TargetLeg.cs.meta
Normal file
@ -0,0 +1,11 @@
|
||||
fileFormatVersion: 2
|
||||
guid: f3394e8da3685a263901c13e2a231279
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
81
CreatureControl/Runtime/Scripts/TargetRig.cs
Normal file
81
CreatureControl/Runtime/Scripts/TargetRig.cs
Normal file
@ -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;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
11
CreatureControl/Runtime/Scripts/TargetRig.cs.meta
Normal file
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Editor/Scripts.meta
Normal file
8
Editor/Scripts.meta
Normal file
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22
Editor/Scripts/Ant_Editor.cs
Normal file
22
Editor/Scripts/Ant_Editor.cs
Normal file
@ -0,0 +1,22 @@
|
||||
using UnityEditor;
|
||||
|
||||
namespace Passer.CreatureControl {
|
||||
|
||||
[CustomEditor(typeof(Ant))]
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||||
public class Ant_Editor : Insect_Editor {
|
||||
|
||||
protected Ant ant;
|
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||||
public override void OnEnable() {
|
||||
base.OnEnable();
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|
||||
this.ant = target as Ant;
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||||
}
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protected override void InitTargets(Creature creature) {
|
||||
TargetsRigInspector(creature, "InsectTargetRig");
|
||||
creature.targetRig.MatchTo(ant);
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}
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}
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}
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11
Editor/Scripts/Ant_Editor.cs.meta
Normal file
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8
NanoBrain.meta
Normal file
8
NanoBrain.meta
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|
||||
//#if !UNITY_5_6_OR_NEWER
|
||||
#if !UNITY_5_6_OR_NEWER
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using NUnit.Framework;
|
||||
@ -268,4 +268,4 @@ namespace LinearAlgebra.Test {
|
||||
|
||||
}
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}
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@ -2,8 +2,10 @@ using System;
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using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using UnityEditor;
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||||
#if UNITY_MATHEMATICS
|
||||
using Unity.Mathematics;
|
||||
using static Unity.Mathematics.math;
|
||||
#endif
|
||||
|
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[Serializable]
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public class Neuron : Nucleus {
|
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Runtime/Resources.meta
Normal file
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Normal file
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Runtime/Resources/InsectTargetRig.prefab
Normal file
765
Runtime/Resources/InsectTargetRig.prefab
Normal file
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7
Runtime/Resources/InsectTargetRig.prefab.meta
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@ -1,245 +0,0 @@
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using System.Collections.Generic;
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using UnityEngine;
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[RequireComponent(typeof(NanoBrain))]
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public class AnimatedAnt : MonoBehaviour {
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private readonly float inertia = 0.2f;
|
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private readonly float smellRadius = 1.0f;
|
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private readonly float smellAngle = 80.0f;
|
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public GameObject homePheromonePrefab;
|
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public GameObject foodPheromonePrefab;
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public AntennaTouch touchLeft;
|
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public AntennaTouch touchRight;
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public NanoBrain nanoBrain;
|
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// brain output
|
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public Neuron hasFood;
|
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// brain input
|
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public Nucleus pheromoneSteering;
|
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public Nucleus hitLeft;
|
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public Nucleus hitRight;
|
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public Nucleus beat;
|
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public Receptor foodReceptor;
|
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public Receptor homeReceptor;
|
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|
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public new Rigidbody rigidbody;
|
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public Animator animator;
|
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public float forwardSpeed = 1;
|
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public float rotationSpeed = 1;
|
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public Vector3 linearVelocity;
|
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public Vector3 angularVelocity;
|
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|
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protected virtual void Awake() {
|
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this.animator = GetComponentInChildren<Animator>();
|
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if (this.animator == null && this.transform.parent != null)
|
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this.animator = this.transform.parent.GetComponentInChildren<Animator>();
|
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this.nanoBrain = GetComponentInChildren<NanoBrain>();
|
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|
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this.rigidbody = GetComponentInParent<Rigidbody>();
|
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this.rigidbody.isKinematic = false;
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}
|
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|
||||
|
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void Start() {
|
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Cluster brain = this.nanoBrain.brain;
|
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if (brain != null) {
|
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// brain outputs
|
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this.pheromoneSteering = brain.GetNucleus("Pheromone Steering");
|
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|
||||
|
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if (brain.GetNucleus("Home Pheromones") is Neuron homePheromones)
|
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homePheromones.WhenFiring += PlaceHomePheromone;
|
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if (brain.GetNucleus("Food Pheromones") is Neuron foodPheromones)
|
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foodPheromones.WhenFiring += PlaceFoodPheromone;
|
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|
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this.hasFood = brain.GetNucleus("Having Food") as Neuron;
|
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// brain inputs
|
||||
this.beat = brain.GetNucleus("Beat");
|
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this.hitLeft = brain.GetNucleus("Hit Left");
|
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this.hitRight = brain.GetNucleus("Hit Right");
|
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this.foodReceptor = brain.GetNucleus("Food Receptor") as Receptor;
|
||||
this.homeReceptor = brain.GetNucleus("Home Receptor") as Receptor;
|
||||
}
|
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|
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this.linearVelocity = Vector3.forward;
|
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|
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if (touchLeft != null)
|
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touchLeft.touched += OnAntennaTouchLeft;
|
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if (touchRight != null)
|
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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);
|
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// this.rigidbody.linearVelocity = linearVelocityWorld;
|
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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<Pheromone>();
|
||||
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<Food>();
|
||||
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<AntsNest>();
|
||||
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");
|
||||
}
|
||||
}
|
||||
249
Runtime/Scripts/Ant.cs
Normal file
249
Runtime/Scripts/Ant.cs
Normal file
@ -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<Animator>();
|
||||
if (this.animator == null && this.transform.parent != null)
|
||||
this.animator = this.transform.parent.GetComponentInChildren<Animator>();
|
||||
this.nanoBrain = GetComponentInChildren<NanoBrain>();
|
||||
|
||||
this.rigidbody = GetComponentInParent<Rigidbody>();
|
||||
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<Pheromone>();
|
||||
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<Food>();
|
||||
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<AntsNest>();
|
||||
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");
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@ -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;
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -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<NanoBrain>();
|
||||
if (this.nanoBrain == null || this.nanoBrain.brain == null)
|
||||
return;
|
||||
public Neuron havingFood;
|
||||
public Nucleus enableFoodPheromones;
|
||||
|
||||
if (nanoBrain.brain.GetNucleus("Mouth") is Neuron mouthNeuron)
|
||||
mouthNeuron.WhenFiring += CheckGrab;
|
||||
this.havingFood = nanoBrain.brain.GetNucleus("Having Food") as Neuron;
|
||||
}
|
||||
void Awake() {
|
||||
this.nanoBrain = GetComponentInParent<NanoBrain>();
|
||||
if (this.nanoBrain == null || this.nanoBrain.brain == null)
|
||||
return;
|
||||
|
||||
void Start() {
|
||||
havingFood?.SetBias(-Vector3.one);
|
||||
}
|
||||
if (nanoBrain.brain.GetNucleus("Mouth") is Neuron mouthNeuron)
|
||||
mouthNeuron.WhenFiring += CheckGrab;
|
||||
this.havingFood = nanoBrain.brain.GetNucleus("Having Food") as Neuron;
|
||||
}
|
||||
|
||||
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<AntsNest>();
|
||||
if (nest != null)
|
||||
LetGo();
|
||||
}
|
||||
else {
|
||||
Food food = c.GetComponentInParent<Food>();
|
||||
if (food != null)
|
||||
Grab();
|
||||
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<AntsNest>();
|
||||
if (nest != null)
|
||||
LetGo();
|
||||
}
|
||||
else {
|
||||
Food food = c.GetComponentInParent<Food>();
|
||||
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($"{this.transform.parent.name} Release food");
|
||||
|
||||
List<GameObject> toDelete = new();
|
||||
for (int i = 0; i < transform.childCount; i++)
|
||||
toDelete.Add(transform.GetChild(i).gameObject);
|
||||
foreach (GameObject go in toDelete)
|
||||
Destroy(go);
|
||||
|
||||
havingFood?.SetBias(-Vector3.one);
|
||||
}
|
||||
}
|
||||
|
||||
public bool Grab() {
|
||||
//Debug.Log($"{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<GameObject> 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);
|
||||
}
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user