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[SpringBoneLimit] SpringBone LimitSpace gizmo #2721

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Merged
ousttrue merged 8 commits into from
Sep 16, 2025
+204 −10
Merged

[SpringBoneLimit] SpringBone LimitSpace gizmo #2721

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3fdecc0
label
ousttrue Sep 8, 2025
721ad24
calcSpringboneLimitSpace
ousttrue Sep 8, 2025
db5ff35
Hinge
ousttrue Sep 8, 2025
925a9d8
HandleLimitRotation
ousttrue Sep 8, 2025
61e79dc
DrawChain
ousttrue Sep 8, 2025
22b1363
Spherical
ousttrue Sep 8, 2025
c783ed4
remove comment. cannot access to serializedObject in OnSceneGUI
ousttrue Sep 12, 2025
f0aa642
Merge branch 'master' into springlimit_gizmo
ousttrue Sep 16, 2025
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207 changes: 200 additions & 7 deletions Assets/VRM10/Editor/Components/SpringBone/VRM10SpringBoneJointEditor.cs
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
using System;
using UnityEditor;
using UnityEngine;

Expand Down Expand Up @@ -149,7 +150,7 @@ bool ShowSpringInfo()
return false;
}

var (spring, i) = found.Value;
var (spring, i, _) = found.Value;
m_showJoints = EditorGUILayout.Foldout(m_showJoints, $"Springs[{i}]({spring.Name})");
int? jointIndex = default;
// joints
Expand Down Expand Up @@ -192,27 +193,219 @@ bool ShowSpringInfo()
return jointIndex == (spring.Joints.Count - 1);
}

/// <summary>
/// (0,1,0)
/// ^ /
/// |/
/// +-->
/// 初期姿勢(T-Pose)の tail position が 0,1,0 になるように
/// joint local 空間を補正した空間である。回転 offset として angleLimitRotation(default は identity) も乗算する。
/// </summary>
/// <returns></returns>
static Quaternion calcSpringboneLimitSpace(Quaternion head, Vector3 boneAxis)
{
var jointLocalAxisSpace = Quaternion.FromToRotation(Vector3.up, boneAxis);
return head * jointLocalAxisSpace;
}

bool HandleLimitRotation(Matrix4x4 limitSpace)
{
Handles.matrix = limitSpace;
EditorGUI.BeginChangeCheck();
Quaternion rot = Handles.RotationHandle(m_target.m_angleLimitRotation, Vector3.zero);
if (EditorGUI.EndChangeCheck())
{
Undo.RecordObject(target, "m_angleLimitRotation");
m_target.m_angleLimitRotation = rot;
return true;
}
else
{
return false;
}
}

static void DrawChain(Vrm10InstanceSpringBone.Spring spring)
{
Handles.color = Color.yellow;
var head = spring.Joints[0];
for (int i = 1; i < spring.Joints.Count; ++i)
{
var tail = spring.Joints[i];
if (head != null && tail != null)
{
Handles.DrawLine(head.transform.position, tail.transform.position);
}
head = tail;
}
}

void OnSceneGUI()
{
if (m_root == null)
{
return;
}

// joint(m_target) から、所属する spring を検索する。
var found = m_root.SpringBone.FindJoint(m_target);
if (!found.HasValue)
{
return;
}
// 所属 spring と joint(m_target) の index を得る
var (spring, i, j) = found.Value;

var head = spring.Joints[j].transform;
var label = string.IsNullOrEmpty(spring.Name)
? $"[{i}][{j}]{m_target.name}"
: $"[{i}]{spring.Name}[{j}]{m_target.name}";
Handles.Label(head.transform.position, label);
DrawChain(spring);

var (spring, i) = found.Value;
if (spring.Joints.Count > 0 && spring.Joints[0] != null)
if (j + 1 < spring.Joints.Count)
{
var label = $"Springs[{i}]";
if (!string.IsNullOrEmpty(spring.Name))
var _tail = spring.Joints[j + 1];
if (_tail != null)
{
label = spring.Name;
var tail = _tail.transform;
var local_axis = head.worldToLocalMatrix.MultiplyPoint(tail.position);
var limit_tail_pos = Vector3.up * local_axis.magnitude;
var limitRotation = calcSpringboneLimitSpace(head.rotation, local_axis);

if (m_target.m_anglelimitType == UniGLTF.SpringBoneJobs.AnglelimitTypes.None)
{
Tools.hidden = false;
}
else
{
Tools.hidden = true;
if (HandleLimitRotation(Matrix4x4.TRS(head.position, limitRotation, Vector3.one)))
{
if (Application.isPlaying)
{
if (m_root != null)
{
m_root.Runtime.SpringBone.SetJointLevel(m_target.transform, m_target.Blittable);
}
}
}
}

limitRotation = limitRotation * m_target.m_angleLimitRotation;

var limitSpace = Matrix4x4.TRS(head.position, limitRotation, Vector3.one);
Handles.matrix = limitSpace;
Handles.color = Color.red;
Handles.DrawLine(Vector3.zero, Vector3.right * limit_tail_pos.magnitude);
Handles.color = Color.green;
Handles.DrawLine(Vector3.zero, Vector3.up * limit_tail_pos.magnitude);

switch (m_target.m_anglelimitType)
{
case UniGLTF.SpringBoneJobs.AnglelimitTypes.Cone:
{
var s = Mathf.Sin(m_target.m_angleLimitAngle1 * 0.5f);
var c = Mathf.Cos(m_target.m_angleLimitAngle1 * 0.5f);

Handles.color = Color.cyan;
var r = Mathf.Tan(m_target.m_angleLimitAngle1 * 0.5f) * limit_tail_pos.magnitude * c;
Handles.DrawWireDisc(limit_tail_pos * c, Vector3.up, r, 1);
// o head
// r /
// |/
// -r --+-- r
// |
// -r
Handles.DrawLine(Vector3.zero, new Vector3(0, c, s) * limit_tail_pos.magnitude);
Handles.DrawLine(Vector3.zero, new Vector3(0, c, -s) * limit_tail_pos.magnitude);
Handles.DrawLine(Vector3.zero, new Vector3(s, c, 0) * limit_tail_pos.magnitude);
Handles.DrawLine(Vector3.zero, new Vector3(-s, c, 0) * limit_tail_pos.magnitude);

@notargs notargs Sep 12, 2025

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少しネストが深く可読性に改善の余地があるかも。
DrawConeGizmo() 関数などの粒度で別クラスに切り分けてあげることができそう

@ousttrue ousttrue Sep 12, 2025

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DrawConeGizmo() の引数のデザインに関してなんか良い案ありますか。
たぶん再利用されないと思うのだけど。

@notargs notargs Sep 16, 2025

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再利用するかどうかはともかく、「再利用性の高い」コードスニペットにはなりそうです

break;
}

case UniGLTF.SpringBoneJobs.AnglelimitTypes.Hinge:
{
var s = Mathf.Sin(m_target.m_angleLimitAngle1 * 0.5f);
var c = Mathf.Cos(m_target.m_angleLimitAngle1 * 0.5f);

Handles.color = Color.cyan;
Handles.DrawWireArc(Vector3.zero, Vector3.left,
new Vector3(0, c, s) * limit_tail_pos.magnitude,
m_target.m_angleLimitAngle1 * Mathf.Rad2Deg,
limit_tail_pos.magnitude
);
// yz plane
// o o head
// / \
// / \
// -r -+- r
//
Handles.DrawLine(Vector3.zero, new Vector3(0, c, s) * limit_tail_pos.magnitude);
Handles.DrawLine(Vector3.zero, new Vector3(0, c, -s) * limit_tail_pos.magnitude);
break;
}

case UniGLTF.SpringBoneJobs.AnglelimitTypes.Spherical:
{
Handles.color = Color.cyan;

var ts = Mathf.Sin(m_target.m_angleLimitAngle1 * 0.5f); // theta sin
var tc = Mathf.Cos(m_target.m_angleLimitAngle1 * 0.5f); // theta cos
var ps = Mathf.Sin(m_target.m_angleLimitAngle2 * 0.5f); // phi sin
var pc = Mathf.Cos(m_target.m_angleLimitAngle2 * 0.5f); // phi cos

// y = tc * pc
// ^ z = tc * ps
// |/
// +-> x = ts
var x = ts;
var y = tc * pc;
var z = tc * ps;

// z
// ^
// b|a
// -+->x
// c|d
var a = new Vector3(x, y, z);
var b = new Vector3(-x, y, z);
var c = new Vector3(-x, y, -z);
var d = new Vector3(x, y, -z);

Handles.DrawLine(Vector3.zero, a * limit_tail_pos.magnitude);
Handles.DrawLine(Vector3.zero, b * limit_tail_pos.magnitude);
Handles.DrawLine(Vector3.zero, c * limit_tail_pos.magnitude);
Handles.DrawLine(Vector3.zero, d * limit_tail_pos.magnitude);

// ab / cd
Handles.DrawWireArc(Vector3.zero, Vector3.Cross(a, b).normalized,
a * limit_tail_pos.magnitude,
m_target.m_angleLimitAngle1 * Mathf.Rad2Deg,
limit_tail_pos.magnitude
);
Handles.DrawWireArc(Vector3.zero, Vector3.Cross(c, d).normalized,
c * limit_tail_pos.magnitude,
m_target.m_angleLimitAngle1 * Mathf.Rad2Deg,
limit_tail_pos.magnitude
);

// bc / da
Handles.DrawWireArc(Vector3.zero, Vector3.Cross(b, c).normalized,
b * limit_tail_pos.magnitude,
Vector3.Angle(b, c),
limit_tail_pos.magnitude
);
Handles.DrawWireArc(Vector3.zero, Vector3.Cross(d, a).normalized,
d * limit_tail_pos.magnitude,
Vector3.Angle(d, a),
limit_tail_pos.magnitude
);

break;
}
}
}
Handles.Label(spring.Joints[0].transform.position, label);
}
}
}
Expand Down
7 changes: 4 additions & 3 deletions Assets/VRM10/Runtime/Components/Vrm10Instance/Vrm10InstanceSpringBone.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -77,13 +77,14 @@ public void DrawGizmos()
[SerializeField]
public List<Spring> Springs = new List<Spring>();

public (Spring, int)? FindJoint(VRM10SpringBoneJoint joint)
public (Spring spring, int springIndex, int jointIndex)? FindJoint(VRM10SpringBoneJoint joint)
{
for (int i = 0; i < Springs.Count; ++i)
{
if (Springs[i].Joints.Contains(joint))
var j = Springs[i].Joints.IndexOf(joint);
if (j >= 0)
{
return (Springs[i], i);
return new(Springs[i], i, j);
}
}
return default;
Expand Down