NanoBrain/NanoBrain-unitypackage
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Pascal Serrarens 2026-03-09 17:49:55 +01:00
parent c1dcc83827
commit e709ea4e60
20 changed files with 698 additions and 4215 deletions
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55
CreatureControl/Editor/Scripts/Creature_Editor.cs
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@ -11,12 +11,19 @@ namespace Passer.CreatureControl {
protected Creature creature; protected Creature creature;
public virtual void OnEnable() { public virtual void OnEnable() {
creature = (Creature)target; creature = target as Creature;
if (creature == null) if (creature == null)
return; return;
creature.targetToRootTranslation = creature.transform.position - creature.targetRig.transform.position;
creature.targetToRootRotation = Quaternion.Inverse(creature.targetRig.transform.rotation) * creature.transform.rotation;
serializedObject.Update();
if (!IsPrefab(creature)) if (!IsPrefab(creature))
InitTargets(creature); InitTargets(creature);
serializedObject.ApplyModifiedProperties();
} }
public static bool IsPrefab(Creature creature) { public static bool IsPrefab(Creature creature) {
@ -27,18 +34,40 @@ namespace Passer.CreatureControl {
#region Targets #region Targets
protected virtual void InitTargets(Creature creature) { protected virtual void InitTargets(Creature creature) {
TargetsRigInspector(creature, "TargetRig"); if (creature.CheckTargetRig("TargetRig")) {
} EditorUtility.SetDirty(creature);
AssetDatabase.SaveAssets();
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 #endregion Targets
private bool initialize = true;
// public Vector3 targetToRootTranslation;
// public Quaternion targetToRootRotation;
public virtual void OnSceneGUI() {
if (Application.isPlaying)
return;
if (creature.enabled == false || creature.targetRig == null)
return;
// if (this.initialize) {
// creature.targetToRootTranslation = creature.transform.position - creature.targetRig.transform.position;
// creature.targetToRootRotation = Quaternion.Inverse(creature.targetRig.transform.rotation) * creature.transform.rotation;
// this.initialize = false;
// }
creature.targetRig.PoseLimbs();
creature.UpdateBones();
}
// protected virtual void UpdateBones() {
// Vector3 newPosition = creature.targetRig.transform.position + targetToRootTranslation;
// Quaternion newOrientation = creature.targetRig.transform.rotation * targetToRootRotation;
// creature.transform.SetPositionAndRotation(newPosition, newOrientation);
// }
}
} }

99
CreatureControl/Editor/Scripts/Insect/Insect_Editor.cs
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@ -11,38 +11,26 @@ namespace Passer.CreatureControl {
base.OnEnable(); base.OnEnable();
insect = target as Insect; insect = target as Insect;
insect.targetToRootTranslation = insect.transform.position - insect.targetRig.transform.position;
insect.targetToRootRotation = Quaternion.Inverse(insect.targetRig.transform.rotation) * insect.transform.rotation;
insect.targetRig.MatchTo(insect);
} }
#region Inspector
public override void OnInspectorGUI() { public override void OnInspectorGUI() {
EditorGUIUtility.wideMode = true; EditorGUIUtility.wideMode = true;
serializedObject.Update(); serializedObject.Update();
SerializedProperty targetRigProp = serializedObject.FindProperty(nameof(Creature.targetRig)); TargetsInspector();
targetRigProp.objectReferenceValue = (TargetRig)EditorGUILayout.ObjectField("Target Rig", targetRigProp.objectReferenceValue, typeof(TargetRig), true); AnimatorInspector();
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(); serializedObject.ApplyModifiedProperties();
} }
static bool showTargets; static bool showTargets;
private void TargetsInspector(Insect insect) { private void TargetsInspector() {
GUIContent text = new( GUIContent text = new(
"Targets", "Targets",
"The target transforms controlling the body parts" "The target transforms controlling the body parts"
@ -51,6 +39,7 @@ namespace Passer.CreatureControl {
if (showTargets) { if (showTargets) {
EditorGUI.indentLevel++; EditorGUI.indentLevel++;
SerializedProperty leftFrontLegProp = serializedObject.FindProperty(nameof(Insect.leftFrontLeg)); SerializedProperty leftFrontLegProp = serializedObject.FindProperty(nameof(Insect.leftFrontLeg));
Leg_Editor.Inspector(leftFrontLegProp); Leg_Editor.Inspector(leftFrontLegProp);
SerializedProperty leftMiddleLegProp = serializedObject.FindProperty(nameof(Insect.leftMiddleLeg)); SerializedProperty leftMiddleLegProp = serializedObject.FindProperty(nameof(Insect.leftMiddleLeg));
@ -65,15 +54,73 @@ namespace Passer.CreatureControl {
SerializedProperty rightHindLegProp = serializedObject.FindProperty(nameof(Insect.rightHindLeg)); SerializedProperty rightHindLegProp = serializedObject.FindProperty(nameof(Insect.rightHindLeg));
Leg_Editor.Inspector(rightHindLegProp); 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--; EditorGUI.indentLevel--;
} }
} }
private void AnimatorInspector() {
GUIContent text = new(
"Animator",
"Standard Unity Animator Controller for animating the character"
);
SerializedProperty targetRigProp = serializedObject.FindProperty(nameof(Insect.targetRig));
if (targetRigProp == null)
return;
SerializedObject targetRigObj = new(targetRigProp.objectReferenceValue);
SerializedProperty animatorControllerProp = targetRigObj.FindProperty(nameof(TargetRig.animator));
animatorControllerProp.objectReferenceValue = (Animator)EditorGUILayout.ObjectField(text, animatorControllerProp.objectReferenceValue, typeof(Animator), true);
}
#endregion Inspector
#region Scene
[System.NonSerialized]
private bool initialize = true;
public override void OnSceneGUI() {
if (Application.isPlaying)
return;
if (insect.enabled == false || insect.targetRig == null)
return;
// if (this.initialize) {
// this.targetToRootTranslation = insect.transform.position - insect.targetRig.transform.position;
// this.targetToRootRotation = Quaternion.Inverse(insect.targetRig.transform.rotation) * insect.transform.rotation;
// insect.targetRig.MatchTo(insect);
// this.initialize = false;
// }
insect.targetRig.PoseLimbs();
insect.UpdateBones();
}
// protected override void UpdateBones() {
// base.UpdateBones();
// if (insect.targetRig.leftFrontLeg != null)
// insect.targetRig.leftFrontLeg.UpdateBones(insect.leftFrontLeg);
// if (insect.targetRig.leftMiddleLeg != null)
// insect.targetRig.leftMiddleLeg.UpdateBones(insect.leftMiddleLeg);
// if (insect.targetRig.leftBackLeg != null)
// insect.targetRig.leftBackLeg.UpdateBones(insect.leftHindLeg);
// if (insect.targetRig.rightFrontLeg != null)
// insect.targetRig.rightFrontLeg.UpdateBones(insect.rightFrontLeg);
// if (insect.targetRig.rightMiddleLeg != null)
// insect.targetRig.rightMiddleLeg.UpdateBones(insect.rightMiddleLeg);
// if (insect.targetRig.rightBackLeg != null)
// insect.targetRig.rightBackLeg.UpdateBones(insect.rightHindLeg);
// }
#endregion Scene
} }
} }

74
CreatureControl/Runtime/Scripts/Creature.cs
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@ -2,25 +2,67 @@ using UnityEngine;
namespace Passer.CreatureControl { namespace Passer.CreatureControl {
public class Creature : MonoBehaviour { public class Creature : MonoBehaviour {
/// <summary>The target bones rig</summary> /// <summary>The target bones rig</summary>
/// The target bones rig contain the target pose of the creature /// 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 /// The creature movements will try to move the creature such that the target pose is reached
/// as closely as possible /// as closely as possible
public TargetRig targetRig; public TargetRig targetRig;
public Transform creatureRig;
/// <summary>Match the target rig transform to the humanoid transform</summary> public Vector3 targetToRootTranslation;
public static void CheckTargetRig(Creature creature, string targetRigResourceName) { public Quaternion targetToRootRotation;
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); /// <summary>
targetRig.transform.SetParent(creature.transform); /// Ensure a target rig is available
creature.targetRig = targetRig.GetComponent<TargetRig>(); /// </summary>
/// <param name="targetRigResourceName">The name of the target rig resource</param>
/// <returns>True when the creature rig has been updated</returns>
/// The parameter is used to instantiate a new target rig when none has been found.
public bool CheckTargetRig(string targetRigResourceName) {
if (this.targetRig == null) {
// See if there is a target rig, but we just haven't found it
this.targetRig = this.GetComponentInChildren<TargetRig>();
if (this.targetRig == null) {
GameObject targetsRigPrefab = Resources.Load<GameObject>(targetRigResourceName);
GameObject targetRig = Instantiate(targetsRigPrefab);
targetRig.name = "Target Rig";
targetRig.transform.SetPositionAndRotation(this.transform.position, this.transform.rotation);
targetRig.transform.SetParent(this.transform);
this.targetRig = targetRig.GetComponent<TargetRig>();
}
return true;
}
else
return false;
}
/// <summary>
/// Ensure that the creature rig is available
/// </summary>
/// <returns>True when the creature rig has been updated</returns>
public bool CheckCreatureRig() {
if (this.creatureRig == null) {
SkinnedMeshRenderer[] skinnedMeshRenderers = this.GetComponentsInChildren<SkinnedMeshRenderer>();
foreach (SkinnedMeshRenderer skinnedMeshRenderer in skinnedMeshRenderers) {
Transform rendererParent = skinnedMeshRenderer.transform.parent;
if (this.creatureRig == null || this.creatureRig == rendererParent)
this.creatureRig = rendererParent;
else
Debug.LogWarning("Unclear avatar root");
}
return this.creatureRig != null;
}
else
return false;
}
public virtual void UpdateBones() {
Vector3 newPosition = this.targetRig.transform.position + targetToRootTranslation;
Quaternion newOrientation = this.targetRig.transform.rotation * targetToRootRotation;
this.transform.SetPositionAndRotation(newPosition, newOrientation);
} }
} }
}
} }

21
CreatureControl/Runtime/Scripts/Insect/Insect.cs
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@ -9,5 +9,26 @@ namespace Passer.CreatureControl {
public Leg rightMiddleLeg; public Leg rightMiddleLeg;
public Leg rightHindLeg; public Leg rightHindLeg;
protected virtual void Update() {
UpdateBones();
}
public override void UpdateBones() {
base.UpdateBones();
if (this.targetRig.leftFrontLeg != null)
this.targetRig.leftFrontLeg.UpdateBones(this.leftFrontLeg);
if (this.targetRig.leftMiddleLeg != null)
this.targetRig.leftMiddleLeg.UpdateBones(this.leftMiddleLeg);
if (this.targetRig.leftBackLeg != null)
this.targetRig.leftBackLeg.UpdateBones(this.leftHindLeg);
if (this.targetRig.rightFrontLeg != null)
this.targetRig.rightFrontLeg.UpdateBones(this.rightFrontLeg);
if (this.targetRig.rightMiddleLeg != null)
this.targetRig.rightMiddleLeg.UpdateBones(this.rightMiddleLeg);
if (this.targetRig.rightBackLeg != null)
this.targetRig.rightBackLeg.UpdateBones(this.rightHindLeg);
}
} }
} }

83
CreatureControl/Runtime/Scripts/TargetLeg.cs
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@ -14,7 +14,23 @@ namespace Passer.CreatureControl {
public Quaternion targetToBoneFemur; public Quaternion targetToBoneFemur;
public Quaternion targetToBoneTibia; public Quaternion targetToBoneTibia;
private void Start() { }
public void MatchTo(Leg leg) {
this.femurTarget.position = leg.femur.position;
this.tibiaTarget.position = leg.tibia.position;
this.tarsusTarget.position = leg.tarsus.position;
targetToBoneFemur = TargetRig.TargetToBoneRotation(leg.femur, leg.tibia);
targetToBoneTibia = TargetRig.TargetToBoneRotation(leg.tibia, leg.tarsus);
this.target.position = this.tarsusTarget.position;
this.target.rotation = this.tarsusTarget.rotation;
}
public virtual void OnDrawGizmosSelected() { public virtual void OnDrawGizmosSelected() {
if (this.enabled == false)
return;
if (target != null && legTarget == null) { if (target != null && legTarget == null) {
legTarget = target.GetComponent<LegTarget>(); legTarget = target.GetComponent<LegTarget>();
if (legTarget == null) if (legTarget == null)
@ -28,21 +44,28 @@ namespace Passer.CreatureControl {
if (tibiaTarget != null && this.tarsusTarget != null) if (tibiaTarget != null && this.tarsusTarget != null)
Gizmos.DrawLine(this.tibiaTarget.position, this.tarsusTarget.position); Gizmos.DrawLine(this.tibiaTarget.position, this.tarsusTarget.position);
if (this.enabled) PoseLimb();
PoseLimb();
} }
/// <summary>
/// Pose the target limb
/// </summary>
public void PoseLimb() { public void PoseLimb() {
if (target == null) if (target == null)
return; return;
Quaternion femurOrientation = FemurRotation(target.position); Quaternion femurOrientation = FemurRotation(target.position);
Quaternion tibiaOrientation = TibiaRotation(target.position); Quaternion tibiaOrientation = TibiaRotation(target.position);
Quaternion tarsusrientation = TarsusRotation(target.rotation); Quaternion tarsusOrientation = TarsusRotation(target.rotation);
SetFemurOrientation(femurTarget, femurOrientation); femurTarget.rotation = femurOrientation;
SetTibiaOrientation(tibiaTarget, tibiaOrientation); tibiaTarget.rotation = tibiaOrientation;
SetTarsusOrientation(tarsusTarget, tarsusrientation); tarsusTarget.rotation = tarsusOrientation;
}
public void UpdateBones(Leg leg) {
UpdateFemur(leg.femur);
UpdateTibia(leg.tibia);
} }
protected Quaternion FemurRotation(Vector3 targetPosition) { protected Quaternion FemurRotation(Vector3 targetPosition) {
@ -83,45 +106,6 @@ namespace Passer.CreatureControl {
return 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) { public void UpdateFemur(Transform femurBone) {
if (femurBone == null || this.femurTarget == null) if (femurBone == null || this.femurTarget == null)
return; return;
@ -136,15 +120,6 @@ namespace Passer.CreatureControl {
tibiaBone.rotation = this.tibiaTarget.rotation * targetToBoneTibia; 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 #region Math
public static float CosineRule(float a, float b, float c) { public static float CosineRule(float a, float b, float c) {

43
CreatureControl/Runtime/Scripts/TargetRig.cs
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@ -15,38 +15,31 @@ namespace Passer.CreatureControl {
public Animator animator; public Animator animator;
public void PoseLimbs() { public void PoseLimbs() {
leftBackLeg.PoseLimb(); this.leftBackLeg.PoseLimb();
leftMiddleLeg.PoseLimb(); this.leftMiddleLeg.PoseLimb();
leftFrontLeg.PoseLimb(); this.leftFrontLeg.PoseLimb();
rightBackLeg.PoseLimb(); this.rightBackLeg.PoseLimb();
rightMiddleLeg.PoseLimb(); this.rightMiddleLeg.PoseLimb();
rightFrontLeg.PoseLimb(); this.rightFrontLeg.PoseLimb();
} }
public void MatchTo(Insect insect) { public void MatchTo(Insect insect) {
if (insect == null) if (insect == null)
return; 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) if (this.leftFrontLeg != null && insect.leftFrontLeg != null)
rightFrontLeg.MatchToCreature(insect.rightFrontLeg); this.leftFrontLeg.MatchTo(insect.leftFrontLeg);
if (rightMiddleLeg != null && insect.rightMiddleLeg != null) if (this.leftMiddleLeg != null && insect.leftMiddleLeg != null)
rightMiddleLeg.MatchToCreature(insect.rightMiddleLeg); this.leftMiddleLeg.MatchTo(insect.leftMiddleLeg);
if (rightBackLeg != null && insect.rightHindLeg != null) if (this.leftBackLeg != null && insect.leftHindLeg != null)
rightBackLeg.MatchToCreature(insect.rightHindLeg); this.leftBackLeg.MatchTo(insect.leftHindLeg);
}
public static void MoveTargetToBone(Transform target, Transform bone) { if (this.rightFrontLeg != null && insect.rightFrontLeg != null)
if (target == null || bone == null) this.rightFrontLeg.MatchTo(insect.rightFrontLeg);
return; if (this.rightMiddleLeg != null && insect.rightMiddleLeg != null)
this.rightMiddleLeg.MatchTo(insect.rightMiddleLeg);
target.position = bone.position; if (this.rightBackLeg != null && insect.rightHindLeg != null)
this.rightBackLeg.MatchTo(insect.rightHindLeg);
} }
public static Quaternion TargetToBoneRotation(Transform bone, Transform nextBone) { public static Quaternion TargetToBoneRotation(Transform bone, Transform nextBone) {

10
Editor/Scripts/Ant_Editor.cs
View File

@ -8,14 +8,16 @@ namespace Passer.CreatureControl {
protected Ant ant; protected Ant ant;
public override void OnEnable() { public override void OnEnable() {
base.OnEnable();
this.ant = target as Ant; this.ant = target as Ant;
base.OnEnable();
} }
protected override void InitTargets(Creature creature) { protected override void InitTargets(Creature creature) {
TargetsRigInspector(creature, "InsectTargetRig"); if (creature.CheckTargetRig("InsectTargetRig")) {
creature.targetRig.MatchTo(ant); EditorUtility.SetDirty(creature);
AssetDatabase.SaveAssets();
}
} }
} }

13
NanoBrain/Editor/NanoBrain_Editor.cs
View File

@ -10,17 +10,17 @@ public class NanoBrainComponent_Editor : Editor {
protected static VisualElement inspectorContainer; protected static VisualElement inspectorContainer;
protected NanoBrain component; protected NanoBrain component;
private SerializedProperty brainProp; // private SerializedProperty brainProp;
ClusterInspector.GraphView board; // ClusterInspector.GraphView board;
public void OnEnable() { public void OnEnable() {
component = target as NanoBrain; component = target as NanoBrain;
if (Application.isPlaying == false && serializedObject != null) { // if (Application.isPlaying == false) {
string propertyName = nameof(NanoBrain.defaultBrain); // string propertyName = nameof(NanoBrain.defaultBrain);
brainProp = serializedObject.FindProperty(propertyName); // brainProp = serializedObject.FindProperty(propertyName);
} // }
} }
public override VisualElement CreateInspectorGUI() { public override VisualElement CreateInspectorGUI() {
@ -32,6 +32,7 @@ public class NanoBrainComponent_Editor : Editor {
VisualElement root = new(); VisualElement root = new();
if (Application.isPlaying == false) { if (Application.isPlaying == false) {
SerializedProperty brainProp = serializedObject.FindProperty(nameof(NanoBrain.defaultBrain));
PropertyField brainField = new(brainProp) { PropertyField brainField = new(brainProp) {
label = "Nano Brain" label = "Nano Brain"
}; };

468
Runtime/Resources/InsectTargetRig.prefab
View File

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55
Runtime/Scripts/Ant.cs
View File

@ -26,7 +26,6 @@ namespace Passer.CreatureControl {
public Receptor foodReceptor; public Receptor foodReceptor;
public Receptor homeReceptor; public Receptor homeReceptor;
public new Rigidbody rigidbody;
public Animator animator; public Animator animator;
public float forwardSpeed = 1; public float forwardSpeed = 1;
public float rotationSpeed = 1; public float rotationSpeed = 1;
@ -34,23 +33,18 @@ namespace Passer.CreatureControl {
public Vector3 angularVelocity; public Vector3 angularVelocity;
protected virtual void Awake() { protected virtual void Awake() {
this.animator = GetComponentInChildren<Animator>(); if (this.targetRig != null)
if (this.animator == null && this.transform.parent != null) this.animator = this.targetRig.animator;
this.animator = this.transform.parent.GetComponentInChildren<Animator>();
this.nanoBrain = GetComponentInChildren<NanoBrain>(); this.nanoBrain = GetComponentInChildren<NanoBrain>();
this.rigidbody = GetComponentInParent<Rigidbody>();
this.rigidbody.isKinematic = false;
} }
void Start() { void Start() {
Cluster brain = this.nanoBrain.brain; Cluster brain = this.nanoBrain.brain;
if (brain != null) { if (brain != null) {
// brain outputs // brain outputs
this.pheromoneSteering = brain.GetNucleus("Pheromone Steering"); this.pheromoneSteering = brain.GetNucleus("Pheromone Steering");
if (brain.GetNucleus("Home Pheromones") is Neuron homePheromones) if (brain.GetNucleus("Home Pheromones") is Neuron homePheromones)
homePheromones.WhenFiring += PlaceHomePheromone; homePheromones.WhenFiring += PlaceHomePheromone;
if (brain.GetNucleus("Food Pheromones") is Neuron foodPheromones) if (brain.GetNucleus("Food Pheromones") is Neuron foodPheromones)
@ -84,7 +78,9 @@ namespace Passer.CreatureControl {
} }
// Update is called once per frame // Update is called once per frame
void Update() { protected override void Update() {
base.Update();
UpdateBeat(); UpdateBeat();
UpdateSmell(); UpdateSmell();
@ -95,9 +91,7 @@ namespace Passer.CreatureControl {
this.linearVelocity = (1 - inertia) * (Time.deltaTime * localForce.normalized) + inertia * this.linearVelocity; this.linearVelocity = (1 - inertia) * (Time.deltaTime * localForce.normalized) + inertia * this.linearVelocity;
this.linearVelocity = this.linearVelocity.normalized * 0.2f; this.linearVelocity = this.linearVelocity.normalized * 0.2f;
// Vector3 linearVelocityWorld = this.transform.TransformVector(this.linearVelocity); this.animator.SetFloat("Forward", this.linearVelocity.z * this.forwardSpeed);
// this.rigidbody.linearVelocity = linearVelocityWorld;
this.animator.SetFloat("forward speed", this.linearVelocity.z * this.forwardSpeed);
// Rotate towards the movement direction // Rotate towards the movement direction
if (this.linearVelocity != Vector3.zero) { if (this.linearVelocity != Vector3.zero) {
@ -113,9 +107,7 @@ namespace Passer.CreatureControl {
LinearAlgebra.Angles.Normalize(eulerAngleChange.z) LinearAlgebra.Angles.Normalize(eulerAngleChange.z)
); );
Vector3 angularVelocity = 5f * Mathf.Deg2Rad * eulerAngleChange; this.animator.SetFloat("Rotate", eulerAngleChange.y / 45 * this.rotationSpeed);
//rigidbody.angularVelocity = angularVelocity;
this.animator.SetFloat("rotate speed", eulerAngleChange.y / 45 * this.rotationSpeed);
} }
} }
@ -123,7 +115,7 @@ namespace Passer.CreatureControl {
float lastBeatTime = 0; float lastBeatTime = 0;
void UpdateBeat() { void UpdateBeat() {
if (lastBeatTime == 0) { if (lastBeatTime == 0) {
ulong delay = (ulong)(UnityEngine.Random.value * beatInterval); ulong delay = (ulong)(Random.value * beatInterval);
lastBeatTime = Time.time - delay; lastBeatTime = Time.time - delay;
} }
if (Time.time - lastBeatTime >= beatInterval) { if (Time.time - lastBeatTime >= beatInterval) {
@ -152,22 +144,6 @@ namespace Passer.CreatureControl {
Pheromone pheromone = thing.GetComponentInParent<Pheromone>(); Pheromone pheromone = thing.GetComponentInParent<Pheromone>();
if (pheromone == null) if (pheromone == null)
return; 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); Vector3 smellDirection = this.transform.InverseTransformPoint(pheromone.transform.position);
float distance = smellDirection.magnitude; float distance = smellDirection.magnitude;
@ -177,12 +153,9 @@ namespace Passer.CreatureControl {
Vector3 smell = smellDirection.normalized * intensity; Vector3 smell = smellDirection.normalized * intensity;
switch (pheromone.type) { switch (pheromone.type) {
case Pheromone.Type.Food: case Pheromone.Type.Food:
//foodSmell?.ProcessStimulus(pheromone.GetInstanceID(), smell, "food pheromone");
foodReceptor?.ProcessStimulus(smellDirection.normalized * intensity, pheromone.GetInstanceID(), "food pheromone"); foodReceptor?.ProcessStimulus(smellDirection.normalized * intensity, pheromone.GetInstanceID(), "food pheromone");
break; break;
case Pheromone.Type.Home: 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"); homeReceptor?.ProcessStimulus(smellDirection.normalized * intensity, pheromone.GetInstanceID(), "home pheromone");
break; break;
} }
@ -204,8 +177,7 @@ namespace Passer.CreatureControl {
float distance = smellDirection.magnitude; float distance = smellDirection.magnitude;
float angle = Vector3.Angle(Vector3.forward, smellDirection); float angle = Vector3.Angle(Vector3.forward, smellDirection);
if (angle < smellAngle && distance > 0.05) { if (angle < smellAngle && distance > 0.05) {
float intensity = food.StrengthAt(distance); //strength * (1 / distance); float intensity = food.StrengthAt(distance);
//foodSmell?.ProcessStimulus(food.GetInstanceID(), smellDirection.normalized * intensity, "food");
foodReceptor?.ProcessStimulus(smellDirection.normalized * intensity, food.GetInstanceID(), "food"); foodReceptor?.ProcessStimulus(smellDirection.normalized * intensity, food.GetInstanceID(), "food");
Debug.DrawLine(this.transform.position, food.transform.position, Color.red); Debug.DrawLine(this.transform.position, food.transform.position, Color.red);
} }
@ -224,8 +196,7 @@ namespace Passer.CreatureControl {
float distance = smellDirection.magnitude; float distance = smellDirection.magnitude;
float angle = Vector3.Angle(Vector3.forward, smellDirection); float angle = Vector3.Angle(Vector3.forward, smellDirection);
if (angle < smellAngle && distance > 0.05) { if (angle < smellAngle && distance > 0.05) {
float intensity = nest.StrengthAt(distance); //strength * (1 / distance); float intensity = nest.StrengthAt(distance);
//homeSmell?.ProcessStimulus(nest.GetInstanceID(), smellDirection.normalized * intensity, "nest");
Vector3 value = smellDirection.normalized * intensity; Vector3 value = smellDirection.normalized * intensity;
homeReceptor?.ProcessStimulus(value, nest.GetInstanceID(), "nest"); homeReceptor?.ProcessStimulus(value, nest.GetInstanceID(), "nest");
Debug.DrawLine(this.transform.position, nest.transform.position, Color.red); Debug.DrawLine(this.transform.position, nest.transform.position, Color.red);
@ -236,13 +207,13 @@ namespace Passer.CreatureControl {
Vector3 touchDirection = Vector3.zero; Vector3 touchDirection = Vector3.zero;
if (isTouching) if (isTouching)
touchDirection = this.transform.InverseTransformVector(touchLeft.transform.forward); touchDirection = this.transform.InverseTransformVector(touchLeft.transform.forward);
hitLeft?.SetBias(touchDirection); //, other.GetInstanceID(), "Touch Left"); hitLeft?.SetBias(touchDirection);
} }
void OnAntennaTouchRight(Collider other, bool isTouching) { void OnAntennaTouchRight(Collider other, bool isTouching) {
Vector3 touchDirection = Vector3.zero; Vector3 touchDirection = Vector3.zero;
if (isTouching) if (isTouching)
touchDirection = this.transform.InverseTransformVector(touchRight.transform.forward); touchDirection = this.transform.InverseTransformVector(touchRight.transform.forward);
hitRight?.SetBias(touchDirection); //, other.GetInstanceID(), "Touch Right"); hitRight?.SetBias(touchDirection);
} }
} }

19
Runtime/Scripts/AntsNest.cs
View File

@ -4,7 +4,6 @@ using UnityEngine;
namespace Passer.CreatureControl { namespace Passer.CreatureControl {
public class AntsNest : Odorant { public class AntsNest : Odorant {
public Ant antPrefab; public Ant antPrefab;
public uint numberOfAnts = 1; public uint numberOfAnts = 1;
public bool spawnAnt = false; public bool spawnAnt = false;
@ -13,14 +12,18 @@ namespace Passer.CreatureControl {
protected virtual void Start() { protected virtual void Start() {
StartCoroutine(SpawnAnts()); StartCoroutine(SpawnAnts());
} }
private static readonly WaitForSeconds _waitForSeconds0_2 = new(0.2f);
IEnumerator SpawnAnts() { IEnumerator SpawnAnts() {
while (numberOfAnts > 0) { if (antPrefab != null) {
Ant ant = Instantiate(antPrefab); while (numberOfAnts > 0) {
ant.transform.eulerAngles = 360 * Random.value * Vector3.up; Ant ant = Instantiate(antPrefab);
ant.transform.position = this.transform.position + ant.transform.forward * 0.1F; ant.transform.eulerAngles = 360 * Random.value * Vector3.up;
ant.name = "Ant " + (++antCount); ant.transform.position = this.transform.position + ant.transform.forward * 0.1F;
numberOfAnts--; ant.name = "Ant " + (++antCount);
yield return new WaitForSeconds(0.2f); numberOfAnts--;
yield return _waitForSeconds0_2;
}
} }
} }