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2026-06-11 22:49:50 +07:00
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using UnityEngine;
namespace Pathfinding.Examples {
#if MODULE_ENTITIES
using Pathfinding.ECS;
using Unity.Entities;
using Unity.Mathematics;
using Unity.Transforms;
#endif
/// <summary>
/// Example of how to use Mecanim with the included movement scripts.
///
/// This script will use Mecanim to apply root motion to move the character
/// instead of allowing the movement script to do the movement.
///
/// It assumes that the Mecanim controller uses 3 input variables
/// - InputMagnitude which is simply 1 when the character should be moving and 0 when it should stop. Or, for the FollowerEntity component, 1 when it is moving at its natural speed, and less than 1 when it is moving slower.
/// - X which is component of the desired movement along the left/right axis. For the AIPath and RichAI movement scripts, this will be a velocity in meters/second, while for the FollowerEntity movement script, this will be an angular velocity in radians/second.
/// - Y which is component of the desired movement direction along the forward/backward axis. This is a velocity in meters/second.
///
/// It works with the <see cref="AIPath"/>, <see cref="RichAI"/> and <see cref="FollowerEntity"/> movement scripts.
///
/// See: https://docs.unity3d.com/Manual/RootMotion.html
/// See: <see cref="IAstarAI"/>
/// See: <see cref="AIPath"/>
/// See: <see cref="RichAI"/>
/// See: <see cref="FollowerEntity"/>
/// </summary>
[HelpURL("https://arongranberg.com/astar/documentation/stable/mecanimbridge.html")]
public class MecanimBridge : VersionedMonoBehaviour {
/// <summary>Smoothing factor for the velocity, in seconds.</summary>
public float velocitySmoothing = 1;
/// <summary>
/// Smoothing factor for the angular velocity, in seconds.
///
/// Note: This is only used with the <see cref="FollowerEntity"/> movement script.
/// </summary>
public float angularVelocitySmoothing = 1;
public float naturalSpeed = 5;
#if MODULE_ENTITIES
float smoothedRotationSpeed;
#endif
/// <summary>Cached reference to the movement script</summary>
IAstarAI ai;
/// <summary>Cached Animator component</summary>
Animator anim;
/// <summary>Cached Transform component</summary>
Transform tr;
Vector3 smoothedVelocity;
/// <summary>Position of the left and right feet during the previous frame</summary>
Vector3[] prevFootPos = new Vector3[2];
/// <summary>Cached reference to the left and right feet</summary>
Transform[] footTransforms;
const string InputMagnitudeKey = "InputMagnitude";
static int InputMagnitudeKeyHash = Animator.StringToHash(InputMagnitudeKey);
const string NormalizedSpeedKey = "NormalizedSpeed";
static int NormalizedSpeedKeyHash = Animator.StringToHash(NormalizedSpeedKey);
const string XAxisKey = "X";
static int XAxisKeyHash = Animator.StringToHash(XAxisKey);
const string YAxisKey = "Y";
static int YAxisKeyHash = Animator.StringToHash(YAxisKey);
protected override void Awake () {
base.Awake();
ai = GetComponent<IAstarAI>();
anim = GetComponent<Animator>();
tr = transform;
// Find the feet of the character
footTransforms = new [] { anim.GetBoneTransform(HumanBodyBones.LeftFoot), anim.GetBoneTransform(HumanBodyBones.RightFoot) };
if (anim != null) {
if (!HasParameter(anim, InputMagnitudeKey)) {
Debug.LogError($"No '{InputMagnitudeKey}' parameter found on the animator. The animator must have a float parameter called '{InputMagnitudeKey}'", this);
enabled = false;
}
if (!HasParameter(anim, XAxisKey)) {
Debug.LogError($"No '{XAxisKey}' parameter found on the animator. The animator must have a float parameter called '{XAxisKey}'", this);
enabled = false;
}
if (!HasParameter(anim, YAxisKey)) {
Debug.LogError($"No '{YAxisKey}' parameter found on the animator. The animator must have a float parameter called '{YAxisKey}'", this);
enabled = false;
}
}
}
static bool HasParameter (Animator animator, string paramName) {
foreach (AnimatorControllerParameter param in animator.parameters) if (param.name == paramName) return true;
return false;
}
#if MODULE_ENTITIES
void OnEnable () {
if (ai is FollowerEntity followerEntity) {
followerEntity.movementOverrides.AddBeforeMovementCallback(MovementOverride);
}
}
void OnDisable () {
if (ai is FollowerEntity followerEntity) {
followerEntity.movementOverrides.RemoveBeforeMovementCallback(MovementOverride);
}
}
void MovementOverride (Entity entity, float dt, ref LocalTransform localTransform, ref AgentCylinderShape shape, ref AgentMovementPlane movementPlane, ref DestinationPoint destination, ref MovementState movementState, ref MovementSettings movementSettings, ref MovementControl movementControl, ref ResolvedMovement resolvedMovement) {
var desiredVelocity = math.normalizesafe(resolvedMovement.targetPoint - localTransform.Position) * resolvedMovement.speed;
var currentRotation = movementPlane.value.ToPlane(localTransform.Rotation);
var deltaRotationSpeed = AstarMath.DeltaAngle(currentRotation, resolvedMovement.targetRotation);
deltaRotationSpeed = Mathf.Sign(deltaRotationSpeed) * Mathf.Clamp01(Mathf.Abs(deltaRotationSpeed) / math.max(0.001f, dt * resolvedMovement.rotationSpeed));
deltaRotationSpeed = -deltaRotationSpeed * resolvedMovement.rotationSpeed;
smoothedRotationSpeed = Mathf.Lerp(smoothedRotationSpeed, deltaRotationSpeed, angularVelocitySmoothing > 0 ? dt / angularVelocitySmoothing : 1);
// Calculate the desired velocity relative to the character (+Z = forward, +X = right)
var localDesiredVelocity = localTransform.InverseTransformDirection(desiredVelocity);
localDesiredVelocity.y = 0;
smoothedVelocity = Vector3.Lerp(smoothedVelocity, localDesiredVelocity, velocitySmoothing > 0 ? dt / velocitySmoothing : 1);
if (smoothedVelocity.magnitude < 0.4f) {
smoothedVelocity = smoothedVelocity.normalized * 0.4f;
}
var normalizedRotationSpeed = movementSettings.follower.maxRotationSpeed > 0 ? Mathf.Rad2Deg * Mathf.Abs(resolvedMovement.rotationSpeed) / movementSettings.follower.maxRotationSpeed : 0;
var normalizedSpeed = movementSettings.follower.speed * naturalSpeed > 0 ? resolvedMovement.speed / naturalSpeed : 0;
// Combine the normalized rotation speed and normalized speed such that either of them being large, results in the input magnitude being large.
// This is to ensure that even if the agent wants to almost rotate on the spot, the input magnitude will still be large.
var inputMagnitude = Mathf.Min(1, Mathf.Sqrt(normalizedSpeed*normalizedSpeed + normalizedRotationSpeed*normalizedRotationSpeed));
anim.SetFloat(InputMagnitudeKeyHash, inputMagnitude);
anim.SetFloat(XAxisKeyHash, smoothedRotationSpeed);
anim.SetFloat(YAxisKeyHash, smoothedVelocity.z);
// Calculate how much the agent should rotate during this frame
var nextPosition = localTransform.Position;
var nextRotation = localTransform.Rotation;
// Apply rotational root motion
nextRotation = anim.deltaRotation * nextRotation;
nextPosition += (float3)anim.deltaPosition;
resolvedMovement.targetPoint = nextPosition;
resolvedMovement.targetRotation = movementPlane.value.ToPlane(nextRotation);
// target rotation speed?
resolvedMovement.speed = math.length(nextPosition - localTransform.Position) / math.max(0.001f, dt);
}
#endif
/// <summary>Update is called once per frame</summary>
void Update () {
if (ai is AIBase aiBase) {
aiBase.canMove = false;
// aiBase.updatePosition = false;
// aiBase.updateRotation = false;
}
}
/// <summary>Calculate position of the currently grounded foot</summary>
Vector3 CalculateBlendPoint () {
// Fall back to rotating around the transform position if no feet could be found
if (footTransforms[0] == null || footTransforms[1] == null) return tr.position;
var leftFootPos = footTransforms[0].position;
var rightFootPos = footTransforms[1].position;
// This is the same calculation that Unity uses for
// Animator.pivotWeight and Animator.pivotPosition
// but those properties do not work for all animations apparently.
var footVelocity1 = (leftFootPos - prevFootPos[0]) / Time.deltaTime;
var footVelocity2 = (rightFootPos - prevFootPos[1]) / Time.deltaTime;
float denominator = footVelocity1.magnitude + footVelocity2.magnitude;
var pivotWeight = denominator > 0 ? footVelocity1.magnitude / denominator : 0.5f;
prevFootPos[0] = leftFootPos;
prevFootPos[1] = rightFootPos;
var pivotPosition = Vector3.Lerp(leftFootPos, rightFootPos, pivotWeight);
return pivotPosition;
}
void OnAnimatorMove () {
#if MODULE_ENTITIES
if (ai is FollowerEntity) return;
#endif
Vector3 nextPosition;
Quaternion nextRotation;
ai.MovementUpdate(Time.deltaTime, out nextPosition, out nextRotation);
//var desiredVelocity = (ai.steeringTarget - tr.position).normalized * 2;//ai.desiredVelocity;
var desiredVelocity = ai.desiredVelocity;
// Calculate the desired velocity relative to the character (+Z = forward, +X = right)
var localDesiredVelocity = tr.InverseTransformDirection(desiredVelocity);
localDesiredVelocity.y = 0;
var desiredVelocityWithoutGrav = tr.TransformDirection(localDesiredVelocity);
anim.SetFloat(InputMagnitudeKeyHash, ai.reachedEndOfPath || localDesiredVelocity.magnitude < 0.1f ? 0f : 1f);
smoothedVelocity = Vector3.Lerp(smoothedVelocity, localDesiredVelocity, velocitySmoothing > 0 ? Time.deltaTime / velocitySmoothing : 1);
if (smoothedVelocity.magnitude < 0.4f) {
smoothedVelocity = smoothedVelocity.normalized * 0.4f;
}
anim.SetFloat(XAxisKeyHash, smoothedVelocity.x);
anim.SetFloat(YAxisKeyHash, smoothedVelocity.z);
// The IAstarAI interface doesn't expose rotation speeds right now, so we have to do this ugly thing.
// In case this is an unknown movement script, we fall back to a reasonable value.
var rotationSpeed = 360f;
if (ai is AIPath aipath) {
rotationSpeed = aipath.rotationSpeed;
} else if (ai is RichAI richai) {
rotationSpeed = richai.rotationSpeed;
}
// Calculate how much the agent should rotate during this frame
var newRot = RotateTowards(desiredVelocityWithoutGrav, Time.deltaTime * rotationSpeed);
// Rotate the character around the currently grounded foot to prevent foot sliding
nextPosition = ai.position;
nextRotation = ai.rotation;
nextPosition = RotatePointAround(nextPosition, CalculateBlendPoint(), newRot * Quaternion.Inverse(nextRotation));
nextRotation = newRot;
// Apply rotational root motion
nextRotation = anim.deltaRotation * nextRotation;
// Use gravity from the movement script, not from animation
var deltaPos = anim.deltaPosition;
deltaPos.y = desiredVelocity.y * Time.deltaTime;
nextPosition += deltaPos;
// Call the movement script to perform the final movement
ai.FinalizeMovement(nextPosition, nextRotation);
}
static Vector3 RotatePointAround (Vector3 point, Vector3 around, Quaternion rotation) {
return rotation * (point - around) + around;
}
/// <summary>
/// Calculates a rotation closer to the desired direction.
/// Returns: The new rotation for the character
/// </summary>
/// <param name="direction">Direction in the movement plane to rotate toward.</param>
/// <param name="maxDegrees">Maximum number of degrees to rotate this frame.</param>
protected virtual Quaternion RotateTowards (Vector3 direction, float maxDegrees) {
if (direction != Vector3.zero) {
Quaternion targetRotation = Quaternion.LookRotation(direction);
return Quaternion.RotateTowards(tr.rotation, targetRotation, maxDegrees);
} else {
return tr.rotation;
}
}
}
}

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