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Add Ragdoll Editor utilities for easier ragdoll setup and editing

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This commit is contained in:
Wojtek Figat
2021-11-04 16:23:04 +01:00
parent 79df80ad0c
commit d8775a3ae5
2 changed files with 360 additions and 40 deletions
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100
Source/Editor/SceneGraph/Actors/AnimatedModelNode.cs
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@@ -1,6 +1,8 @@
// Copyright (c) 2012-2021 Wojciech Figat. All rights reserved.
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using FlaxEditor.GUI.ContextMenu;
using FlaxEngine;
@@ -34,12 +36,26 @@ namespace FlaxEditor.SceneGraph.Actors
private void OnCreateRagdoll()
{
// Settings
var minBoneSize = 20.0f; // The minimum size for the bone bounds to be used for physical bodies generation
var minValidSize = 0.0001f; // The minimum size of the bone bounds to be included (used to skip too small, degenerated or invalid bones)
var collisionMargin = 1.01f; // The scale of the collision body dimensions (relative to the visual dimensions of the bones)
BuildRagdoll((AnimatedModel)Actor, null);
TreeNode.ExpandAll(true);
}
var actor = (AnimatedModel)Actor;
internal class RebuildOptions
{
[DefaultValue(20.0f), Limit(0), Tooltip("The minimum size for the bone bounds to be used for physical bodies generation.")]
public float MinBoneSize = 20.0f;
[DefaultValue(0.0001f), Limit(0), Tooltip("The minimum size of the bone bounds to be included (used to skip too small, degenerated or invalid bones).")]
public float MinValidSize = 0.0001f;
[DefaultValue(1.01f), Limit(0.001f, 2.0f), Tooltip("The scale of the collision body dimensions (relative to the visual dimensions of the bones).")]
public float CollisionMargin = 1.01f;
}
internal static void BuildRagdoll(AnimatedModel actor, RebuildOptions options = null, Ragdoll ragdoll = null, string boneNameToBuild = null)
{
if (options == null)
options = new RebuildOptions();
var model = actor.SkinnedModel;
if (!model || model.WaitForLoaded())
{
@@ -120,8 +136,12 @@ namespace FlaxEditor.SceneGraph.Actors
}
var boneBoxSize = (boneBounds.Size * 0.5f).Length;
var boneMergedSize = bonesMergedSizes[boneIndex] += boneBoxSize;
if (boneMergedSize < minBoneSize && boneMergedSize >= minValidSize)
if (boneMergedSize < options.MinBoneSize && boneMergedSize >= options.MinValidSize)
{
// Don't merge bone that was selected for rebuild
if (boneNameToBuild != null && boneNameToBuild == nodes[bone.NodeIndex].Name)
continue;
if (bone.ParentIndex != -1)
{
// Merge it into parent
@@ -159,7 +179,7 @@ namespace FlaxEditor.SceneGraph.Actors
int forcedRootBoneIndex = -1, firstParentBoneIndex = -1;
for (int boneIndex = 0; boneIndex < bones.Length; ++boneIndex)
{
if (bonesMergedSizes[boneIndex] > minBoneSize)
if (bonesMergedSizes[boneIndex] > options.MinBoneSize)
{
var parentIndex = bones[boneIndex].ParentIndex;
if (parentIndex == -1)
@@ -181,26 +201,45 @@ namespace FlaxEditor.SceneGraph.Actors
// TODO: add undo support
// Spawn ragdoll actor
var ragdoll = new Ragdoll
var boneBodies = new RigidBody[bones.Length];
if (ragdoll == null)
{
StaticFlags = StaticFlags.None,
Name = "Ragdoll",
Parent = actor,
};
// Spawn ragdoll actor
ragdoll = new Ragdoll
{
StaticFlags = StaticFlags.None,
Name = "Ragdoll",
Parent = actor,
};
}
else
{
// Reuse existing bones for joints
var children = ragdoll.Children;
for (int boneIndex = 0; boneIndex < bones.Length; ++boneIndex)
{
ref var bone = ref bones[boneIndex];
var node = nodes[bone.NodeIndex];
boneBodies[boneIndex] = (RigidBody)children.FirstOrDefault(x => x is RigidBody && x.Name == node.Name);
}
}
// Spawn physical bodies for bones
var boneBodies = new RigidBody[bones.Length];
for (int boneIndex = 0; boneIndex < bones.Length; ++boneIndex)
{
ref var boneVertices = ref bonesVertices[boneIndex];
if (boneVertices == null || boneVertices.Count == 0)
continue;
var boneBounds = bonesBounds[boneIndex];
if (bonesMergedSizes[boneIndex] < minBoneSize && boneIndex != forcedRootBoneIndex)
if (bonesMergedSizes[boneIndex] < options.MinBoneSize && boneIndex != forcedRootBoneIndex && boneNameToBuild == null)
continue;
ref var bone = ref bones[boneIndex];
ref var node = ref nodes[bone.NodeIndex];
if (boneNameToBuild != null && boneNameToBuild != node.Name)
continue;
if (boneBodies[boneIndex] != null)
continue;
// Calculate bone orientation based on the variance of the vertices
var covarianceMatrix = CalculateCovarianceMatrix(boneVertices);
@@ -234,13 +273,13 @@ namespace FlaxEditor.SceneGraph.Actors
var collider = new BoxCollider
{
Name = "Box",
Size = boneLocalBoundsSize * collisionMargin,
Size = boneLocalBoundsSize * options.CollisionMargin,
};
#elif false
var collider = new SphereCollider
{
Name = "Sphere",
Radius = boneLocalBoundsSize.MaxValue * 0.5f * collisionMargin,
Radius = boneLocalBoundsSize.MaxValue * 0.5f * options.CollisionMargin,
};
#elif true
var collider = new CapsuleCollider
@@ -249,20 +288,20 @@ namespace FlaxEditor.SceneGraph.Actors
};
if (boneLocalBoundsSize.X > boneLocalBoundsSize.Y && boneLocalBoundsSize.X > boneLocalBoundsSize.Z)
{
collider.Height = boneLocalBoundsSize.X * collisionMargin;
collider.Radius = Mathf.Max(boneLocalBoundsSize.Y, boneLocalBoundsSize.Z) * 0.5f * collisionMargin;
collider.Height = boneLocalBoundsSize.X * options.CollisionMargin;
collider.Radius = Mathf.Max(boneLocalBoundsSize.Y, boneLocalBoundsSize.Z) * 0.5f * options.CollisionMargin;
}
else if (boneLocalBoundsSize.Y > boneLocalBoundsSize.X && boneLocalBoundsSize.Y > boneLocalBoundsSize.Z)
{
collider.LocalOrientation = Quaternion.Euler(0, 0, 90);
collider.Height = boneLocalBoundsSize.Y * collisionMargin;
collider.Radius = Mathf.Max(boneLocalBoundsSize.X, boneLocalBoundsSize.Z) * 0.5f * collisionMargin;
collider.Height = boneLocalBoundsSize.Y * options.CollisionMargin;
collider.Radius = Mathf.Max(boneLocalBoundsSize.X, boneLocalBoundsSize.Z) * 0.5f * options.CollisionMargin;
}
else
{
collider.LocalOrientation = Quaternion.Euler(0, 90, 0);
collider.Height = boneLocalBoundsSize.Z * collisionMargin;
collider.Radius = Mathf.Max(boneLocalBoundsSize.X, boneLocalBoundsSize.Y) * 0.5f * collisionMargin;
collider.Height = boneLocalBoundsSize.Z * options.CollisionMargin;
collider.Radius = Mathf.Max(boneLocalBoundsSize.X, boneLocalBoundsSize.Y) * 0.5f * options.CollisionMargin;
}
collider.Height = Mathf.Max(collider.Height - collider.Radius * 2.0f, 0.0f);
#endif
@@ -286,16 +325,8 @@ namespace FlaxEditor.SceneGraph.Actors
#else
var joint = new D6Joint
{
LimitSwing = new LimitConeRange
{
YLimitAngle = 45.0f,
ZLimitAngle = 45.0f,
},
LimitTwist = new LimitAngularRange
{
Lower = -15.0f,
Upper = 15.0f,
},
LimitSwing = new LimitConeRange(45.0f, 45.0f),
LimitTwist = new LimitAngularRange(-15.0f, 15.0f),
};
joint.SetMotion(D6JointAxis.X, D6JointMotion.Locked);
joint.SetMotion(D6JointAxis.Y, D6JointMotion.Locked);
@@ -325,8 +356,7 @@ namespace FlaxEditor.SceneGraph.Actors
}
}
TreeNode.ExpandAll(true);
Editor.Instance.Scene.MarkSceneEdited(Root?.ParentScene);
Editor.Instance.Scene.MarkSceneEdited(actor.Scene);
}
private static unsafe Matrix CalculateCovarianceMatrix(List<SkinnedMesh.Vertex0> vertices)