public float TrajectoryCost(AnimNode.AnimationClip anim, MatchingGoal goal, ref Pose.CGfxSkeletonPose pose)
{
var duration = anim.Duration;
var count = Math.Min(anim.Duration / 25, goal.Trajectory.Count);
var skeleton = CEngine.Instance.SkeletonAssetManager.GetSkeleton(CEngine.Instance.RenderContext, RName.GetRName(anim.GetElementProperty(ElementPropertyType.EPT_Skeleton)));
float cost = 0;
for (int i = 0; i < count; ++i)
{
Skeleton.CGfxMotionState data = new Skeleton.CGfxMotionState();
//anim.GetMotionData(i * 25, pose.Root.BoneDesc.NameHash, ref data);
var p = data.Position;
p.Y = 0;
var hostLoc = goal.HostPlacement.Location;
hostLoc.Y = goal.Trajectory[i].Y;
cost += (goal.HostPlacement.Rotation * p + hostLoc - goal.Trajectory[i]).Length();
//if(i + 1 >= goal.Trajectory.Length)
//{
// cost += data.Velocity.Length();
//}
//else
// cost += (goal.HostPlacement.Rotation * data.Velocity - (goal.Trajectory[i + 1] - goal.Trajectory[i]) / 25 * 1000.0f).Length();
}
return(cost);
}
public float FeetPoseCost(MotionPose pose, MatchingGoal goal)
{
if (goal.CurrentPose == null)
{
return(0);
}
float cost = 0;
if (curLFootBone == null)
{
curLFootBone = goal.CurrentPose.FindBonePose("foot_l");
}
if (curRFootBone == null)
{
curRFootBone = goal.CurrentPose.FindBonePose("root_r");
}
if (preLFootBone == null)
{
preLFootBone = pose.AnimationPose.FindBonePose("foot_l");
}
if (preRFootBone == null)
{
preRFootBone = pose.AnimationPose.FindBonePose("foot_r");
}
Skeleton.CGfxMotionState preData = new Skeleton.CGfxMotionState();
Skeleton.CGfxMotionState curData = new Skeleton.CGfxMotionState();
preLFootBone.GetMotionData(ref preData);
preLFootBone.GetMotionData(ref curData);
cost += (curData.Position - preData.Position).Length();
cost += (curData.Velocity - preData.Velocity).Length();
preRFootBone.GetMotionData(ref preData);
preRFootBone.GetMotionData(ref curData);
cost += (curData.Position - preData.Position).Length();
cost += (curData.Velocity - preData.Velocity).Length();
return(cost);
}
