├── .gitignore ├── .vscode └── settings.json ├── Assets ├── ForwardRenderer.asset ├── ForwardRenderer.asset.meta ├── Mechanical.meta ├── Mechanical │ ├── Animations.meta │ ├── Animations │ │ ├── AC_Digitigrade.controller │ │ ├── AC_Digitigrade.controller.meta │ │ ├── AC_Suspension.controller │ │ ├── AC_Suspension.controller.meta │ │ ├── A_DigitigradeWalk.anim │ │ ├── A_DigitigradeWalk.anim.meta │ │ ├── A_Face.anim │ │ ├── A_Face.anim.meta │ │ ├── A_RadialEngine.anim │ │ ├── A_RadialEngine.anim.meta │ │ ├── A_RemapTest.anim │ │ ├── A_RemapTest.anim.meta │ │ ├── A_RoboticArm.anim │ │ ├── A_RoboticArm.anim.meta │ │ ├── A_Suspension 1.anim │ │ ├── A_Suspension 1.anim.meta │ │ ├── A_Suspension.anim │ │ ├── A_Suspension.anim.meta │ │ ├── A_TwoStroke.anim │ │ ├── A_TwoStroke.anim.meta │ │ ├── Face.controller │ │ ├── Face.controller.meta │ │ ├── RackAndPinion.controller │ │ ├── RackAndPinion.controller.meta │ │ ├── RadialPistonEngine.controller │ │ ├── RadialPistonEngine.controller.meta │ │ ├── RemapConstraintTest.controller │ │ ├── RemapConstraintTest.controller.meta │ │ ├── RoboticArm.controller │ │ ├── RoboticArm.controller.meta │ │ ├── TwoStroke.controller │ │ └── TwoStroke.controller.meta │ ├── Materials.meta │ ├── Materials │ │ ├── M_BluePaint.mat │ │ ├── M_BluePaint.mat.meta │ │ ├── M_Metal.mat │ │ ├── M_Metal.mat.meta │ │ ├── M_RedPaint.mat │ │ ├── M_RedPaint.mat.meta │ │ ├── M_Rubber.mat │ │ ├── M_Rubber.mat.meta │ │ ├── M_Spark.mat │ │ ├── M_Spark.mat.meta │ │ ├── M_Spring.mat │ │ └── M_Spring.mat.meta │ ├── Models.meta │ ├── Models │ │ ├── SK_Spring.fbx │ │ ├── SK_Spring.fbx.meta │ │ ├── SM_Cylinder.fbx │ │ ├── SM_Cylinder.fbx.meta │ │ ├── SM_Cylinder1.fbx │ │ └── SM_Cylinder1.fbx.meta │ ├── Prefabs.meta │ ├── Prefabs │ │ ├── CrankshaftRig.prefab │ │ └── CrankshaftRig.prefab.meta │ ├── Scenes.meta │ ├── Scenes │ │ ├── ArmPiston.unity │ │ ├── ArmPiston.unity.meta │ │ ├── Digitigrade.unity │ │ ├── Digitigrade.unity.meta │ │ ├── Engine.unity │ │ ├── Engine.unity.meta │ │ ├── FaceRig.meta │ │ ├── FaceRig.unity │ │ ├── FaceRig.unity.meta │ │ ├── FaceRig │ │ │ ├── PostProcess Profile.asset │ │ │ └── PostProcess Profile.asset.meta │ │ ├── Gear.unity │ │ ├── Gear.unity.meta │ │ ├── Gear2.unity │ │ ├── Gear2.unity.meta │ │ ├── RoboticArm.unity │ │ ├── RoboticArm.unity.meta │ │ ├── RotaryEngine.unity │ │ ├── RotaryEngine.unity.meta │ │ ├── Suspension.unity │ │ └── Suspension.unity.meta │ ├── Shaders.meta │ ├── Shaders │ │ ├── S_Spring.shadergraph │ │ └── S_Spring.shadergraph.meta │ ├── Timelines.meta │ └── Timelines │ │ ├── EngineTimeline.playable │ │ ├── EngineTimeline.playable.meta │ │ ├── RadialEngineTimeline.playable │ │ └── RadialEngineTimeline.playable.meta ├── ProjectTemplate.meta ├── ProjectTemplate │ ├── ExampleAssets.meta │ ├── ExampleAssets │ │ ├── Materials.meta │ │ ├── Materials │ │ │ ├── Ground_Mat.mat │ │ │ ├── Ground_Mat.mat.meta │ │ │ ├── Stud_Mat.mat │ │ │ └── Stud_Mat.mat.meta │ │ ├── Models.meta │ │ ├── Models │ │ │ ├── Stud.fbx │ │ │ ├── Stud.fbx.meta │ │ │ ├── Workshop_Set.fbx │ │ │ ├── Workshop_Set.fbx.meta │ │ │ ├── small_plane.fbx │ │ │ └── small_plane.fbx.meta │ │ ├── Prefabs.meta │ │ ├── Prefabs │ │ │ ├── Workshop Set.prefab │ │ │ └── Workshop Set.prefab.meta │ │ ├── Textures.meta │ │ └── Textures │ │ │ ├── Concrete.meta │ │ │ ├── Concrete │ │ │ ├── Ground_Albedo.tif │ │ │ ├── Ground_Albedo.tif.meta │ │ │ ├── Ground_MetallicOcculusionSmoothness.tif │ │ │ ├── Ground_MetallicOcculusionSmoothness.tif.meta │ │ │ ├── Ground_Normal.tif │ │ │ └── Ground_Normal.tif.meta │ │ │ ├── Wood.meta │ │ │ └── Wood │ │ │ ├── OBS_Albedo.tif │ │ │ ├── OBS_Albedo.tif.meta │ │ │ ├── OBS_MetallicOcculusionSmoothness.tif │ │ │ ├── OBS_MetallicOcculusionSmoothness.tif.meta │ │ │ ├── OBS_Normal.tif │ │ │ ├── OBS_Normal.tif.meta │ │ │ ├── Plywood_Albedo.tif │ │ │ ├── Plywood_Albedo.tif.meta │ │ │ ├── Plywood_MetallicOcculusionSmoothness.tif │ │ │ ├── Plywood_MetallicOcculusionSmoothness.tif.meta │ │ │ ├── Plywood_Normal.tif │ │ │ └── Plywood_Normal.tif.meta │ ├── Materials.meta │ ├── Materials │ │ ├── HelloWorld.meta │ │ ├── HelloWorld │ │ │ ├── Blue.mat │ │ │ ├── Blue.mat.meta │ │ │ ├── Red.mat │ │ │ └── Red.mat.meta │ │ ├── Skybox_Mat.mat │ │ └── Skybox_Mat.mat.meta │ ├── Presets.meta │ ├── Presets │ │ ├── AudioCompressedInMemory.preset │ │ ├── AudioCompressedInMemory.preset.meta │ │ ├── AudioStreaming.preset │ │ ├── AudioStreaming.preset.meta │ │ ├── Defaults.meta │ │ ├── Defaults │ │ │ ├── AlbedoTexture_Default.preset │ │ │ ├── AlbedoTexture_Default.preset.meta │ │ │ ├── AudioDecompressOnLoad.preset │ │ │ ├── AudioDecompressOnLoad.preset.meta │ │ │ ├── DirectionalLight_Default.preset │ │ │ └── DirectionalLight_Default.preset.meta │ │ ├── NormalTexture.preset │ │ ├── NormalTexture.preset.meta │ │ ├── UtilityTexture.preset │ │ └── UtilityTexture.preset.meta │ ├── Settings.meta │ └── Settings │ │ ├── LWRP-HighQuality.asset │ │ ├── LWRP-HighQuality.asset.meta │ │ ├── LWRP-LowQuality.asset │ │ ├── LWRP-LowQuality.asset.meta │ │ ├── LWRP-MediumQuality.asset │ │ ├── LWRP-MediumQuality.asset.meta │ │ ├── PostProcessProfile.asset │ │ ├── PostProcessProfile.asset.meta │ │ ├── UniversalRenderPipelineAsset.asset │ │ ├── UniversalRenderPipelineAsset.asset.meta │ │ ├── UniversalRenderPipelineAsset_Renderer.asset │ │ └── UniversalRenderPipelineAsset_Renderer.asset.meta ├── Readme.asset ├── Readme.asset.meta ├── Scripts.meta └── Scripts │ ├── RemapTransform.cs │ ├── RemapTransform.cs.meta │ ├── RoboticArmIK.cs │ └── RoboticArmIK.cs.meta ├── Packages └── manifest.json ├── ProjectSettings ├── AudioManager.asset ├── ClusterInputManager.asset ├── DynamicsManager.asset ├── EditorBuildSettings.asset ├── EditorSettings.asset ├── GraphicsSettings.asset ├── InputManager.asset ├── NavMeshAreas.asset ├── NetworkManager.asset ├── Physics2DSettings.asset ├── PresetManager.asset ├── ProjectSettings.asset ├── ProjectVersion.txt ├── QualitySettings.asset ├── TagManager.asset ├── TimeManager.asset ├── UnityConnectSettings.asset ├── VFXManager.asset └── XRSettings.asset └── README.md /.gitignore: -------------------------------------------------------------------------------- 1 | [Ll]ibrary/ 2 | [Tt]emp/ 3 | [Oo]bj/ 4 | [Bb]uild/ 5 | [Bb]uilds/ 6 | [Ll]ogs/ 7 | Assets/AssetStoreTools* 8 | 9 | # Visual Studio 2015 cache directory 10 | /.vs/ 11 | 12 | # Ignore manually added packages 13 | com.* 14 | 15 | # Autogenerated VS/MD/Consulo solution and project files 16 | ExportedObj/ 17 | .consulo/ 18 | *.csproj 19 | *.unityproj 20 | *.sln 21 | *.suo 22 | *.tmp 23 | *.user 24 | *.userprefs 25 | *.pidb 26 | *.booproj 27 | *.svd 28 | *.pdb 29 | 30 | # Unity3D generated meta files 31 | *.pidb.meta 32 | *.pdb.meta 33 | 34 | # Unity3D Generated File On Crash Reports 35 | sysinfo.txt 36 | 37 | # Builds 38 | *.apk 39 | *.unitypackage 40 | 41 | .DS_Store 42 | 43 | # Shell Scripts 44 | *.sh -------------------------------------------------------------------------------- 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{fileID: 2800000, guid: 7801804018a7dcf42abb827444e18660, type: 3} 16 | title: Lightweight RP 17 | sections: 18 | - heading: Lightweight Render Pipeline 19 | text: 'This template is a good starting point for developers focused on performance. 20 | The Lightweight Render Pipeline offers both real-time lighting and baked lighting 21 | in a single-pass forward renderer. This decreases the amount of necessary draw 22 | calls, making LWRP idea for projects that must scale across platforms, including 23 | mobile hardware. ' 24 | linkText: 25 | url: 26 | - heading: 27 | text: 'The Lightweight Render Pipeline is currently still in development, so it 28 | is subject to changes (API, UX, scope). As such, it is not covered by regular 29 | Unity support. Please direct any questions to the:' 30 | linkText: Preview Forum 31 | url: https://forum.unity.com/categories/betas-experimental-features.86/ 32 | - heading: 33 | text: 'To read more about the Lightweight Render Pipeline, see this LWRP documentation 34 | site: ' 35 | linkText: LWRP documentation site 36 | url: https://docs.unity3d.com/Packages/com.unity.render-pipelines.lightweight@5.2/manual/index.html 37 | - heading: 38 | text: 'This project also includes the new Shader Graph tool. With this tool, you 39 | can create shaders with a visual node editor instead of writing code. Read more 40 | about the Shader Graph here:' 41 | linkText: Shader Graph 42 | url: https://github.com/Unity-Technologies/ShaderGraph/wiki 43 | - heading: 44 | text: 'This project also includes the new Post-processing stack, several presets 45 | to jump-start development, and example content. To learn more about Post-processing 46 | please refer to the wiki page located here:' 47 | linkText: Post-processing 48 | url: https://github.com/Unity-Technologies/PostProcessing/wiki 49 | - heading: 50 | text: This project uses the new Package Manager to bring you the latest features 51 | Unity has to offer. Open the Package Manager from Windows > Package Manager 52 | and make sure you're using the most recent version of the Lightweight Render 53 | Pipeline. To update packages, select your desired package from the list on the 54 | left, and click the Update to button in the bottom right corner. 55 | linkText: 56 | url: 57 | loadedLayout: 1 58 | -------------------------------------------------------------------------------- /Assets/Readme.asset.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 83c2ed844a8c74b779a4c823d16594b1 3 | timeCreated: 1484217493 4 | licenseType: Store 5 | NativeFormatImporter: 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 59e86a764c0123247b1cf2a992bc7d31 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/RemapTransform.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 65c47008600f40842bf8a872b8d50bf6 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/RoboticArmIK.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | using UnityEngine.Animations.Rigging; 3 | using UnityEngine.Animations; 4 | using Unity.Collections; 5 | 6 | using Unity.Burst; 7 | using Unity.Mathematics; 8 | 9 | // Adapted from https://meuse.co.jp/?p=885 10 | 11 | [BurstCompile] 12 | public struct RoboticArmIKJob : IWeightedAnimationJob 13 | { 14 | public ReadWriteTransformHandle target; 15 | public NativeArray joints; 16 | public NativeArray theta; 17 | public NativeArray l; 18 | public float C3; 19 | public Vector3 offset; 20 | float ax, ay, az, bx, by, bz; 21 | float asx, asy, asz, bsx, bsy, bsz; 22 | float p5x, p5y, p5z; 23 | float C1, C23, S1, S23; 24 | Vector3 p; 25 | Vector3 r; 26 | public FloatProperty jobWeight { get; set; } 27 | 28 | public void ProcessRootMotion(UnityEngine.Animations.AnimationStream stream) { } 29 | 30 | public void ProcessAnimation(UnityEngine.Animations.AnimationStream stream) 31 | { 32 | float w = jobWeight.Get(stream); 33 | if (w > 0f) 34 | { 35 | p = target.GetPosition(stream) - offset; 36 | r = target.GetRotation(stream).eulerAngles; 37 | p = new Vector3(p.z, p.x, p.y); 38 | r = new Vector3(r.z, r.x, r.y); 39 | ax = math.cos(math.radians(r.z)) * math.cos(math.radians(r.y)); 40 | ay = math.sin(math.radians(r.z)) * math.cos(math.radians(r.y)); 41 | az = -math.sin(math.radians(r.y)); 42 | 43 | p5x = p.x - (l[5] + l[6]) * ax; 44 | p5y = p.y - (l[5] + l[6]) * ay; 45 | p5z = p.z - (l[5] + l[6]) * az; 46 | 47 | theta[0] = math.atan2(p5y, p5x); 48 | 49 | C3 = (math.pow(p5x, 2) + math.pow(p5y, 2) + math.pow(p5z - l[1], 2) - math.pow(l[2], 2) - math.pow(l[3] + l[4], 2)) 50 | / (2 * l[2] * (l[3] + l[4])); 51 | theta[2] = math.atan2(math.pow(1 - math.pow(C3, 2), 0.5f), C3); 52 | 53 | float M = l[2] + (l[3] + l[4]) * C3; 54 | float N = (l[3] + l[4]) * math.sin((float)theta[2]); 55 | float A = math.pow(p5x * p5x + p5y * p5y, 0.5f); 56 | float B = p5z - l[1]; 57 | theta[1] = math.atan2(M * A - N * B, N * A + M * B); 58 | 59 | C1 = math.cos((float)theta[0]); 60 | C23 = math.cos((float)theta[1] + (float)theta[2]); 61 | S1 = math.sin((float)theta[0]); 62 | S23 = math.sin((float)theta[1] + (float)theta[2]); 63 | 64 | bx = math.cos(math.radians(r.x)) * math.sin(math.radians(r.y)) * math.cos(math.radians(r.z)) 65 | - math.sin(math.radians(r.x)) * math.sin(math.radians(r.z)); 66 | by = math.cos(math.radians(r.x)) * math.sin(math.radians(r.y)) * math.sin(math.radians(r.z)) 67 | - math.sin(math.radians(r.x)) * math.cos(math.radians(r.z)); 68 | bz = math.cos(math.radians(r.x)) * math.cos(math.radians(r.y)); 69 | 70 | asx = C23 * (C1 * ax + S1 * ay) - S23 * az; 71 | asy = -S1 * ax + C1 * ay; 72 | asz = S23 * (C1 * ax + S1 * ay) + C23 * az; 73 | bsx = C23 * (C1 * bx + S1 * by) - S23 * bz; 74 | bsy = -S1 * bx + C1 * by; 75 | bsz = S23 * (C1 * bx + S1 * by) + C23 * bz; 76 | 77 | theta[3] = math.atan2(asy, asx); 78 | theta[4] = math.atan2(math.cos((float)theta[3]) * asx + math.sin((float)theta[3]) * asy, asz); 79 | theta[5] = math.atan2(math.cos((float)theta[3]) * bsy - math.sin((float)theta[3]) * bsx, -bsz / math.sin((float)theta[4])); 80 | 81 | if (!double.IsNaN(theta[0])) 82 | joints[1].SetLocalRotation(stream, quaternion.Euler(Vector3.forward * (float)(theta[0] * w))); 83 | if (!double.IsNaN(theta[1])) 84 | joints[2].SetLocalRotation(stream, quaternion.Euler(Vector3.right * (float)(theta[1] * w))); 85 | if (!double.IsNaN(theta[2])) 86 | joints[3].SetLocalRotation(stream, quaternion.Euler(Vector3.right * (float)(theta[2] * w))); 87 | if (!double.IsNaN(theta[3])) 88 | joints[4].SetLocalRotation(stream, quaternion.Euler(Vector3.forward * (float)(theta[3] * w))); 89 | if (!double.IsNaN(theta[4])) 90 | joints[5].SetLocalRotation(stream, quaternion.Euler(Vector3.right * (float)(theta[4] * w))); 91 | if (!double.IsNaN(theta[5])) 92 | joints[6].SetLocalRotation(stream, quaternion.Euler(Vector3.forward * (float)(theta[5] * w))); 93 | } 94 | } 95 | } 96 | 97 | [System.Serializable] 98 | public struct RoboticArmIKData : IAnimationJobData 99 | { 100 | [SerializeField] public Transform[] m_Joints; 101 | [SyncSceneToStream, SerializeField] public Transform m_Target; 102 | public float[] l; 103 | public float C3; 104 | public double[] theta; 105 | 106 | public bool IsValid() 107 | { 108 | return true; 109 | // return !(m_Target == null || m_Joints.Length == 7); 110 | } 111 | 112 | public void SetDefaultValues() 113 | { 114 | theta = new double[6]; 115 | l = new float[7]; 116 | theta[0] = theta[1] = theta[2] = theta[3] = theta[4] = theta[5] = 0.0; 117 | l[1] = l[2] = l[3] = l[4] = l[5] = l[6] = l[6] = 0; 118 | C3 = 0.0f; 119 | } 120 | } 121 | 122 | public class RoboticArmIKBinder : AnimationJobBinder 123 | { 124 | public override RoboticArmIKJob Create(Animator animator, ref RoboticArmIKData data, Component component) 125 | { 126 | var jointArray = new NativeArray(data.m_Joints.Length, Allocator.Persistent, NativeArrayOptions.UninitializedMemory); 127 | for (int i = 0; i < data.m_Joints.Length - 1; i++) 128 | { 129 | jointArray[i] = ReadWriteTransformHandle.Bind(animator, data.m_Joints[i]); 130 | data.l[i] = Vector3.Distance(data.m_Joints[i + 1].position, data.m_Joints[i].position); 131 | } 132 | var thetaArray = new NativeArray(data.theta.Length, Allocator.Persistent, NativeArrayOptions.UninitializedMemory); 133 | var lArray = new NativeArray(data.l.Length, Allocator.Persistent, NativeArrayOptions.UninitializedMemory); 134 | for (int i = 0; i < data.l.Length; i++) 135 | { 136 | lArray[i] = data.l[i]; 137 | } 138 | for (int i = 0; i < data.theta.Length; i++) 139 | { 140 | thetaArray[i] = data.theta[i]; 141 | } 142 | 143 | return new RoboticArmIKJob() 144 | { 145 | target = ReadWriteTransformHandle.Bind(animator, data.m_Target), 146 | joints = jointArray, 147 | theta = thetaArray, 148 | l = lArray, 149 | C3 = data.C3, 150 | offset = data.m_Joints[1].position 151 | }; 152 | } 153 | 154 | public override void Destroy(RoboticArmIKJob job) 155 | { 156 | job.joints.Dispose(); 157 | job.theta.Dispose(); 158 | job.l.Dispose(); 159 | } 160 | } 161 | 162 | [DisallowMultipleComponent, AddComponentMenu("Animation Rigging/Robotic Arm IK")] 163 | public class RoboticArmIK : RigConstraint< 164 | RoboticArmIKJob, 165 | RoboticArmIKData, 166 | RoboticArmIKBinder 167 | > 168 | { 169 | } 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-------------------------------------------------------------------------------- 1 | # Animation Rigging Playground 2 | Just a sandbox for me to experiment with Unity's animation rigging package: 3 | https://blogs.unity3d.com/2019/05/14/introducing-the-animation-rigging-preview-package-for-unity-2019-1/ 4 | 5 | ## Rig Setups 6 | 7 | 8 | ## Custom Constraints 9 | I currently have a basic constraint that allows you to remap a transform from Source object to Destination object. 10 | For example, you could transform a translation in X of a source object from 0-1 (rack) to a rotation in Z of 0-360 (pinion). 11 | ![Remap Transform Constraint Inspector](https://i.imgur.com/bxSCelh.png) 12 | 13 | Added a constraint that handles a 6DOF robotic arm, adapted from [Meuse Robotics](https://meuse.co.jp/?p=885). (Needs some cleanup, probably) 14 | 15 | ## In the Pipe 16 | Currently working on a simplistic RBF solver. This GIF shows a monobehaviour prototype, not an actual constraint [yet]. 17 | 18 | 19 | ## Todo 20 | --------------------------------------------------------------------------------