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feat: vrm1 physics #1261

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merged 4 commits into from
Jun 10, 2023
Merged

feat: vrm1 physics #1261

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cb3c9b8
refactor
Jun 10, 2023
554aa4d
refactor
Jun 10, 2023
f9bf0e1
fix: Eliminated duplication of physical calculations
Jun 10, 2023
776c094
fix: Eliminated vibration caused by collision calculation errors.
Jun 10, 2023
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2 changes: 1 addition & 1 deletion src/foundation/components/Physics/PhysicsComponent.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ export class PhysicsComponent extends Component {
class PhysicsEntity extends (base.constructor as any) {
constructor(
entityUID: EntityUID,
isAlive: Boolean,
isAlive: boolean,
components?: Map<ComponentTID, Component>
) {
super(entityUID, isAlive, components);
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10 changes: 5 additions & 5 deletions src/foundation/importer/Vrm0xImporter.ts
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Expand Up @@ -253,11 +253,11 @@ export class Vrm0xImporter {
const entity = sg.entity;
EntityRepository.addComponentToEntity(PhysicsComponent, entity);
VRMSpringBonePhysicsStrategy.initialize(sg);
if (sg.children.length > 0) {
for (const child of sg.children) {
this.__addPhysicsComponentRecursively(entityRepository, child);
}
}
// if (sg.children.length > 0) {
// for (const child of sg.children) {
// this.__addPhysicsComponentRecursively(entityRepository, child);
// }
// }
}

static _createTextures(gltfModel: RnM2): Texture[] {
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10 changes: 5 additions & 5 deletions src/foundation/importer/VrmImporter.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -184,11 +184,11 @@ export class VrmImporter {
const entity = sg.entity;
EntityRepository.addComponentToEntity(PhysicsComponent, entity);
VRMSpringBonePhysicsStrategy.initialize(sg);
if (sg.children.length > 0) {
for (const child of sg.children) {
this.__addPhysicsComponentRecursively(entityRepository, child);
}
}
// if (sg.children.length > 0) {
// for (const child of sg.children) {
// this.__addPhysicsComponentRecursively(entityRepository, child);
// }
// }
}

static _createTextures(gltfModel: RnM2): Texture[] {
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36 changes: 20 additions & 16 deletions src/foundation/physics/VRMSpringBonePhysicsStrategy.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@ import { Index } from '../../types/CommonTypes';
import { PhysicsStrategy } from './PhysicsStrategy';
import { MutableQuaternion } from '../math/MutableQuaternion';
import { IQuaternion } from '../math';
import { Is } from '../misc/Is';

export class VRMSpringBonePhysicsStrategy implements PhysicsStrategy {
private static __tmp_vec3 = MutableVector3.zero();
Expand Down Expand Up @@ -113,21 +114,26 @@ export class VRMSpringBonePhysicsStrategy implements PhysicsStrategy {
static initialize(sceneGraph: SceneGraphComponent) {
const children = sceneGraph.children;

const physicsComponent = sceneGraph.entity.tryToGetPhysics()!;
const physicsComponent = sceneGraph.entity.tryToGetPhysics();
if (Is.not.exist(physicsComponent)) {
new Error('PhysicsComponent is not attached to the entity.');
return;
}

const vrmSpringBone = physicsComponent.strategy as VRMSpringBonePhysicsStrategy;
if (children.length > 0) {
const transform = children[0].entity.getTransform();
// const childPositionInLocal = Matrix44.invert(
// sceneGraph.worldMatrixInner
// ).multiplyVector3(children[0].worldPosition);
const childPositionInLocal = Vector3.fromCopy3(
transform.localPosition.x * transform.localScale.x,
transform.localPosition.y * transform.localScale.y,
transform.localPosition.z * transform.localScale.z
);
vrmSpringBone.initialize(
sceneGraph,
Vector3.fromCopy3(
transform.localPosition.x * transform.localScale.x,
transform.localPosition.y * transform.localScale.y,
transform.localPosition.z * transform.localScale.z
),
// childPositionInLocal,
childPositionInLocal,
void 0
);
} else {
Expand All @@ -139,9 +145,7 @@ export class VRMSpringBonePhysicsStrategy implements PhysicsStrategy {
Vector3.multiply(Vector3.normalize(delta), 0.07)
);
}
const childPositionInLocal = Matrix44.invert(sceneGraph.matrixInner).multiplyVector3(
childPosition
);
const childPositionInLocal = sceneGraph.getLocalPositionOf(childPosition);
vrmSpringBone.initialize(sceneGraph, childPositionInLocal, void 0);
}
}
Expand All @@ -159,8 +163,8 @@ export class VRMSpringBonePhysicsStrategy implements PhysicsStrategy {
center?: SceneGraphComponent
) {
const currentTail =
center != null ? center!.getWorldPositionOf(this.__currentTail) : this.__currentTail;
const prevTail = center != null ? center!.getWorldPositionOf(this.__prevTail) : this.__prevTail;
center != null ? center.getWorldPositionOf(this.__currentTail) : this.__currentTail;
const prevTail = center != null ? center.getWorldPositionOf(this.__prevTail) : this.__prevTail;

// Continues the previous frame's movement (there is also attenuation)
const delta = MutableVector3.multiply(Vector3.subtract(currentTail, prevTail), 1.0 - dragForce);
Expand All @@ -187,8 +191,8 @@ export class VRMSpringBonePhysicsStrategy implements PhysicsStrategy {

// prevTail = currentTail;
// currentTail = nextTail;
this.__prevTail = center != null ? center!.getLocalPositionOf(currentTail) : currentTail;
this.__currentTail = center != null ? center!.getLocalPositionOf(nextTail) : nextTail;
this.__prevTail = center != null ? center.getLocalPositionOf(currentTail) : currentTail;
this.__currentTail = center != null ? center.getLocalPositionOf(nextTail) : nextTail;

const resultRotation = this.applyRotation(nextTail);
if (this.head.children.length > 0) {
Expand All @@ -213,10 +217,10 @@ export class VRMSpringBonePhysicsStrategy implements PhysicsStrategy {
const r = boneHitRadius + collider.radius;
const delta = Vector3.subtract(nextTail, worldColliderPos);
const deltaScalar = r - delta.length();
if (deltaScalar >= 0) {
if (deltaScalar > 0) {
const normal = Vector3.normalize(delta);
const resilienceVec = Vector3.multiply(
Vector3.add(worldColliderPos, normal),
normal,
deltaScalar
);
nextTail = Vector3.add(nextTail, resilienceVec);
Expand Down