Unity 程序化动画：还原塞尔达旷野之息守护者 (六足)

又整了个小Demo，感觉程序化动画还挺好玩。先上效果图，使用到的所有模型均来源于网络。

程序化动画生成守护者移动

实现思路：守护者共6条腿，初始化先激活两条腿14可移动，每移动完一条腿顺序激活下一条腿移动并取消激活移动完的腿（1移动完激活2并关闭1）；守护者身上带有一个Controller包含了6指示器，分别往地上发射射线寻找对应腿的落点，找到落点让腿移动；Controller带着6各指示器去追林克，然后守护者的躯体去追Controller。

球球是Controller，带6个指示器，去追林克，身体去追Controller

6条腿需要用IK来实现，本文直接使用了Final IK，图省事，没有自己写IK脚本。给每条腿的根节点都挂上CCD IK，然后设置好子关节，本文每隔1个关节设置了一个子关节，不然计算起来太耗时，帧率太低。对应放进去的关节要设置一下Rotation Limit这里使用了Angle限制。

腿部IK如何实现？首先需要给脚底寻找落点，这里特地没有把Foot设置为CCD IK的最后一个关节，而是把接近脚踝的位置设置为CCD IK的最后一个关节，这样设置好，可以我们自己手动设置脚的落点，保证始终落在垂直落点的方向上，而脚踝和脚底的距离大约0.25-0.35，这也是为什么后面脚本中会出现normal * 0.25f的原因，因为相当于找到踝关节落点，然后我们让ankle(子物体包含了脚底)始终LookAt这个ankle.position + info.normal，这就相当于我们自己实现了简化版的落脚点GrounderIK。

接下来给每个脚底挂上IKFootSolver脚本。

代码写的稀烂，凑合看吧。思路：从指示器发射一条射线，如果落点落在了角度60度以内的环形范围内，并且当前leg允许移动且每次指示器找到的落点距离上一次落点大于设定的distance，就可以计算脚底应该落在那里，发送给ccdIK.solver.IKPosition。如果当脚底落在60度的环形范围之外，例如：落在了两个红色区域内圈外圈，分别对应两个红点重新寻找落点，同理绿色和蓝色范围；下图表示指示器落在了距离大于环形外圈的地方，则对应靠外的红点，以该红点位置向下发射射线，重新寻找落点。。。这样守护者的脚才不会伸的太直或太弯。

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using RootMotion.FinalIK;
using UnityEngine.Serialization;public class IKFootSolver : MonoBehaviour
{public Transform indicator;public Transform guardian;private Vector3 arcPos1outer;private Vector3 arcPos1inner;private Vector3 arcPos2outer;private Vector3 arcPos2inner;private Vector3 arcPos3outer;private Vector3 arcPos3inner;private int terrainLayer = 1 << 3;private Vector3 currentPosition;public Vector3 newPosition;private Vector3 oldPosition;public Vector3 newOutRangePosition;[SerializeField] private float stepDistance = 1.5f;public float stepHeight;[SerializeField] private float speed = 7f;public float lerp = 1.01f;public CCDIK ccdIK;RaycastHit info;RaycastHit Inner6PointRaycastInfo;public Transform ankle;public bool stopMove;public bool inRange;public bool callbackMoveNextLeg = true;public int newOutRangeArea;public int oldOutRangeArea;public bool moveLeg;private void Awake(){oldPosition = transform.position;}private void Start(){ccdIK.solver.IKPosition = currentPosition;}// Update is called once per framevoid Update(){ankle.LookAt(ankle.position + info.normal);//transform.position = currentPosition;Ray ray = new Ray(indicator.position, Vector3.down);if (Physics.Raycast(ray, out info, 10, terrainLayer) && lerp == 1.01f){//计算本体和腿的方向向量Vector3 guarPos = new Vector3(guardian.position.x, 0, guardian.position.z);Vector3 legPos = new Vector3(ccdIK.gameObject.transform.position.x, 0, ccdIK.gameObject.transform.position.z);Vector3 dir1 = legPos - guarPos;//计算射线点和本体的方向向量Vector3 infoPos = new Vector3(info.point.x, 0, info.point.z);Vector3 dir2 = infoPos - guarPos;arcPos1outer = guardian.position + dir1.normalized * 6.6f + Vector3.up * 10;arcPos1inner = guardian.position + dir1.normalized * 5.3f + Vector3.up * 10;arcPos2outer = arcPos1outer + Quaternion.AngleAxis(-110, Vector3.up) * dir1.normalized * 2.8f;arcPos2inner = arcPos1inner + Quaternion.AngleAxis(-105, Vector3.up) * dir1.normalized * 2.2f;arcPos3outer = arcPos1outer + Quaternion.AngleAxis(110, Vector3.up) * dir1.normalized * 2.8f;arcPos3inner = arcPos1inner + Quaternion.AngleAxis(105, Vector3.up) * dir1.normalized * 2.2f;inRange = Vector3.Angle(dir1.normalized, dir2.normalized) <= 30 && dir2.magnitude >= 9.5f / 2 && dir2.magnitude <= 14 / 2;//如果是范围内if (inRange){if (Vector3.Distance(newPosition, info.point) > stepDistance && !stopMove){//Debug.Log("inRange--");lerp = 0;newPosition = info.point + 0.25f * info.normal;inRange = true;callbackMoveNextLeg = true;}}else{if (Vector3.Distance(newOutRangePosition, info.point) > stepDistance && !stopMove){if (Vector3.Angle(dir1.normalized, dir2.normalized) <= 15){if (dir2.magnitude >= 7){newOutRangeArea = 1;Ray ray1 = new Ray(arcPos1outer, Vector3.down);if (Physics.Raycast(ray1, out Inner6PointRaycastInfo, 20, terrainLayer)){//Debug.LogError("Cond1outer--");lerp = 0;newPosition = Inner6PointRaycastInfo.point + 0.25f * Inner6PointRaycastInfo.normal;newOutRangePosition = info.point;callbackMoveNextLeg = true;}}else{newOutRangeArea = 2;Ray ray1 = new Ray(arcPos1inner, Vector3.down);if (Physics.Raycast(ray1, out Inner6PointRaycastInfo, 20, terrainLayer)){//Debug.LogError("Cond1inner--");lerp = 0;newPosition = Inner6PointRaycastInfo.point + 0.25f * Inner6PointRaycastInfo.normal;newOutRangePosition = info.point;callbackMoveNextLeg = true;}}}else if (Vector3.Angle(dir1.normalized, dir2.normalized) * Mathf.Sign(Vector3.Cross(dir2.normalized, dir1.normalized).y) > 15){if (dir2.magnitude >= 7){newOutRangeArea = 3;Ray ray2 = new Ray(arcPos2outer, Vector3.down);if (Physics.Raycast(ray2, out Inner6PointRaycastInfo, 20, terrainLayer)){//Debug.LogError("Cond2outer--");lerp = 0;newPosition = Inner6PointRaycastInfo.point + 0.25f * Inner6PointRaycastInfo.normal;newOutRangePosition = info.point;callbackMoveNextLeg = true;}}else{newOutRangeArea = 4;Ray ray2 = new Ray(arcPos2inner, Vector3.down);if (Physics.Raycast(ray2, out Inner6PointRaycastInfo, 20, terrainLayer)){//Debug.LogError("Cond2inner--");lerp = 0;newPosition = Inner6PointRaycastInfo.point + 0.25f * Inner6PointRaycastInfo.normal;newOutRangePosition = info.point;callbackMoveNextLeg = true;}}}else if (Vector3.Angle(dir1.normalized, dir2.normalized) * Mathf.Sign(Vector3.Cross(dir2.normalized, dir1.normalized).y) < -15){if (dir2.magnitude >= 7){newOutRangeArea = 5;Ray ray3 = new Ray(arcPos3outer, Vector3.down);if (Physics.Raycast(ray3, out Inner6PointRaycastInfo, 20, terrainLayer)){//Debug.LogError("Cond3outer--");lerp = 0;newPosition = Inner6PointRaycastInfo.point + 0.25f * Inner6PointRaycastInfo.normal;newOutRangePosition = info.point;callbackMoveNextLeg = true;}}else{newOutRangeArea = 6;Ray ray3 = new Ray(arcPos3inner, Vector3.down);if (Physics.Raycast(ray3, out Inner6PointRaycastInfo, 20, terrainLayer)){//Debug.LogError("Cond3inner--");lerp = 0;newPosition = Inner6PointRaycastInfo.point + 0.25f * Inner6PointRaycastInfo.normal;newOutRangePosition = info.point;callbackMoveNextLeg = true;}}}moveLeg = false;}}}if (lerp < 1){Vector3 footPosition = Vector3.Lerp(oldPosition, newPosition, lerp);footPosition.y += Mathf.Sin(lerp * Mathf.PI) * stepHeight;//ankle.LookAt(ankle.position + info.normal);currentPosition = footPosition;lerp += Time.deltaTime * speed;if (!stopMove){ccdIK.solver.IKPosition = currentPosition;}}else{lerp = 1.01f;oldPosition = newPosition;oldOutRangeArea = newOutRangeArea;if (callbackMoveNextLeg){ccdIK.solver.IKPosition = newPosition;//Debug.Log("OnMoveNextLeg:" + this.gameObject.name + ": " + callbackMoveNextLeg);EventHandler.CallMoveNextLeg(callbackMoveNextLeg, this.gameObject.name);callbackMoveNextLeg = false;}//inCondition234 = false;}}}

接下来是控制腿部的移动顺序，很简单，初始化设置两条腿能动，其他不能动，用事件顺序激活其他腿。GetMatchedLeg方法是找到对应的腿，14配对，25配对，36配对，腿1执行完了就激活腿2动，以此类推。

public static class EventHandler
{public static event Action<bool,string> MoveNextLeg;public static void CallMoveNextLeg(bool onFinishMoveLeg, string legName){MoveNextLeg?.Invoke(onFinishMoveLeg, legName);}
}

using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;public class GuardianLegMoveOrderController : MonoBehaviour
{public IKFootSolver[] iKFootSolvers;private IKFootSolver lastIKFootSovler;private void Start(){for (int i = 0; i < iKFootSolvers.Length; i++){if (i % 3 == 0){iKFootSolvers[i].stopMove = false;}else{iKFootSolvers[i].stopMove = true;}}lastIKFootSovler = iKFootSolvers[0];EventHandler.MoveNextLeg += OnMoveNextLeg;}private void OnDestroy(){EventHandler.MoveNextLeg -= OnMoveNextLeg;}private void OnMoveNextLeg(bool onFinishMoveLeg, string legName){//Debug.Log("CallOnMoveNextLeg:" + legName + ": " + onFinishMoveLeg);if(onFinishMoveLeg){iKFootSolvers[Convert.ToInt32(legName.Replace("Foot", "")) - 1].stopMove = true;iKFootSolvers[GetMatchedLeg(legName.Replace("Foot", "")) - 1].stopMove = false;}}private int GetMatchedLeg(string legName){int leg = legName switch{"1" => 2,"2" => 3,"3" => 1,"4" => 5,"5" => 6,"6" => 4,};return leg;}
}

腿弄好了，接下来移动守护者的身体。

public class GuardianMovement : MonoBehaviour
{public Vector3 guardianBodyPosition;private GuardianLegMoveOrderController controller;public Transform guardianBody;public Transform target;public float speed = 5f;// Start is called before the first frame updatevoid Start(){controller = gameObject.GetComponent<GuardianLegMoveOrderController>();}// Update is called once per framevoid Update(){var dist1 = Vector3.Magnitude(controller.gameObject.transform.position - target.position);//var dist2 = Vector3.Distance(controller.gameObject.transform.position, guardianBody.position);if (target != null && dist1 > 12){MoveIndicator();MoveBody();}}private void OnTriggerEnter(Collider other){Debug.Log(other.gameObject.name);if (other.gameObject.CompareTag("Player")){target = other.gameObject.transform;}}private void MoveIndicator(){var dir1 = target.position - controller.gameObject.transform.position;//目标方向controller.gameObject.transform.Translate(dir1.normalized * Time.deltaTime * speed, Space.World);//向目标方向移动，normalized归一实现匀速移动        }private void MoveBody(){var dir2 = controller.gameObject.transform.position - guardianBody.position;//目标方向guardianBody.transform.Translate(dir2.normalized * Time.deltaTime * speed * 0.85f, Space.World);//向目标方向移动，normalized归一实现匀速移动}
}

移动完守护者，就可以让守护者转动头部瞄准林克了

public class HeadTurnToTarget : MonoBehaviour
{public Transform target;public GuardianMovement guardianMovement;public GameObject head;public GameObject eye;public GameObject targetHead;public GameObject laser;public float lerp;public float targetAngle;public float turnAngle;private void Start(){guardianMovement = FindObjectOfType<GuardianMovement>();laser.SetActive(false);}// Update is called once per framevoid Update(){target = guardianMovement.target;if (target != null){targetHead = GameObject.Find("mixamorig:Head").gameObject;TurnHeadToTarget();            }}public void TurnHeadToTarget(){var dir = target.position - head.transform.position;targetAngle = Vector3.Angle(dir.normalized, head.transform.up) * Vector3.Cross(dir.normalized, head.transform.up).y;head.transform.eulerAngles += new Vector3(0, 0, targetAngle * Time.deltaTime * 2);if (targetAngle <=1){laser.SetActive(true);LockTarget();}else{laser.SetActive(false);}//head.transform.eulerAngles = Vector3.Lerp(head.transform.eulerAngles, new Vector3(0, 0, head.transform.eulerAngles.z + targetAngle), 0.05f);}public void LockTarget(){var distance = (targetHead.transform.position - eye.transform.position).magnitude;laser.transform.position = eye.transform.position;laser.transform.localScale = new Vector3(0.02f, 0.02f, distance * 0.5f);laser.transform.LookAt(targetHead.transform.position);}
}

这里面用到了一个laser，是红色的一道闪烁的激光（Cylinder物体），根据守护者到林克的距离调整激光的长度，然后把激光位置调整到守护者眼睛处，并指向林克，这里激光的pivot使用adjust pivot插件调整到圆珠底部了（该插件unity asset store免费），在上面代码中已经写了，如何实现闪烁？

这里用到了Shader Graph自己写了一个简单的闪烁效果。实际上下图的shader graph是闪烁的，但是截图没有闪烁。仅供参考。

根据这个Shader Graph创建一个材质赋给激光就行了。

结束。

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