void Update()
{
if (TrajectoryControl)
{
//Update Target Direction / Velocity
TargetDirection = Vector3.Lerp(TargetDirection, Quaternion.AngleAxis(Controller.QueryTurn() * 60f, Vector3.up) * Trajectory.Points[RootPointIndex].GetDirection(), TargetBlending);
TargetVelocity = Vector3.Lerp(TargetVelocity, (Quaternion.LookRotation(TargetDirection, Vector3.up) * Controller.QueryMove()).normalized, TargetBlending);
//Update Bias
Bias = Utility.Interpolate(Bias, PoolBias(), TargetBlending);
//Update Trajectory Correction
TrajectoryCorrection = Utility.Interpolate(TrajectoryCorrection, Mathf.Max(Controller.QueryMove().normalized.magnitude, Mathf.Abs(Controller.QueryTurn())), TargetBlending);
//Update Style
for (int i = 0; i < Controller.Styles.Length; i++)
{
if (i == 0)
{
if (!Controller.QueryAny())
{
Trajectory.Points[RootPointIndex].Styles[i] = Utility.Interpolate(Trajectory.Points[RootPointIndex].Styles[i], 1f, StyleTransition);
}
else
{
Trajectory.Points[RootPointIndex].Styles[i] = Utility.Interpolate(Trajectory.Points[RootPointIndex].Styles[i], Controller.Styles[i].Query() ? 1f : 0f, StyleTransition);
}
}
else
{
Trajectory.Points[RootPointIndex].Styles[i] = Utility.Interpolate(Trajectory.Points[RootPointIndex].Styles[i], Controller.Styles[i].Query() ? 1f : 0f, StyleTransition);
}
}
//Predict Future Trajectory
Vector3[] trajectory_positions_blend = new Vector3[Trajectory.Points.Length];
trajectory_positions_blend[RootPointIndex] = Trajectory.Points[RootPointIndex].GetTransformation().GetPosition();
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
float bias_pos = 0.75f;
float bias_dir = 1.25f;
float scale_pos = (1.0f - Mathf.Pow(1.0f - ((float)(i - RootPointIndex) / (RootPointIndex)), bias_pos));
float scale_dir = (1.0f - Mathf.Pow(1.0f - ((float)(i - RootPointIndex) / (RootPointIndex)), bias_dir));
float scale = 1f / (Trajectory.Points.Length - (RootPointIndex + 1f));
trajectory_positions_blend[i] = trajectory_positions_blend[i - 1] + Vector3.Lerp(
Trajectory.Points[i].GetPosition() - Trajectory.Points[i - 1].GetPosition(),
scale * Bias * TargetVelocity,
scale_pos);
Trajectory.Points[i].SetDirection(Vector3.Lerp(Trajectory.Points[i].GetDirection(), TargetDirection, scale_dir));
Trajectory.Points[i].SetVelocity(Bias * TargetVelocity.magnitude); //Set Desired Smoothed Root Velocities
for (int j = 0; j < Trajectory.Points[i].Styles.Length; j++)
{
Trajectory.Points[i].Styles[j] = Trajectory.Points[RootPointIndex].Styles[j];
}
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Points[i].SetPosition(trajectory_positions_blend[i]);
}
for (int i = RootPointIndex; i < Trajectory.Points.Length; i += PointDensity)
{
Trajectory.Points[i].Postprocess();
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Point prev = GetPreviousSample(i);
Trajectory.Point next = GetNextSample(i);
float factor = (float)(i % PointDensity) / PointDensity;
Trajectory.Points[i].SetPosition(((1f - factor) * prev.GetPosition() + factor * next.GetPosition()));
Trajectory.Points[i].SetDirection(((1f - factor) * prev.GetDirection() + factor * next.GetDirection()));
Trajectory.Points[i].SetVelocity((1f - factor) * prev.GetVelocity() + factor * next.GetVelocity());
Trajectory.Points[i].SetLeftsample((1f - factor) * prev.GetLeftSample() + factor * next.GetLeftSample());
Trajectory.Points[i].SetRightSample((1f - factor) * prev.GetRightSample() + factor * next.GetRightSample());
Trajectory.Points[i].SetSlope((1f - factor) * prev.GetSlope() + factor * next.GetSlope());
}
}
if (MLP.Parameters != null)
{
//Calculate Root
Matrix4x4 currentRoot = Trajectory.Points[RootPointIndex].GetTransformation();
//Fix for flat terrain
Transformations.SetPosition(
ref currentRoot,
new Vector3(currentRoot.GetPosition().x, 0f, currentRoot.GetPosition().z)
);
//
int start = 0;
//Input Trajectory Positions / Directions
for (int i = 0; i < PointSamples; i++)
{
Vector3 pos = GetSample(i).GetPosition().GetRelativePositionTo(currentRoot);
Vector3 dir = GetSample(i).GetDirection().GetRelativeDirectionTo(currentRoot);
MLP.SetInput(start + i * 6 + 0, pos.x);
//MLP.SetInput(start + i*6 + 1, pos.y); //Fix for flat terrain
MLP.SetInput(start + i * 6 + 1, 0f);
MLP.SetInput(start + i * 6 + 2, pos.z);
MLP.SetInput(start + i * 6 + 3, dir.x);
//MLP.SetInput(start + i*6 + 4, dir.y); //Fix for flat terrain
MLP.SetInput(start + i * 6 + 4, 0f);
MLP.SetInput(start + i * 6 + 5, dir.z);
}
start += 6 * PointSamples;
//Input Trajectory Heights
for (int i = 0; i < PointSamples; i++)
{
//MLP.SetInput(start + i*2 + 0, GetSample(i).GetLeftSample().y - currentRoot.GetPosition().y); //Fix for flat terrain
//MLP.SetInput(start + i*2 + 1, GetSample(i).GetRightSample().y - currentRoot.GetPosition().y); //Fix for flat terrain
MLP.SetInput(start + i * 2 + 0, 0f);
MLP.SetInput(start + i * 2 + 1, 0f);
}
start += 2 * PointSamples;
//Input Trajectory Styles
for (int i = 0; i < PointSamples; i++)
{
for (int j = 0; j < GetSample(i).Styles.Length; j++)
{
MLP.SetInput(start + i * GetSample(i).Styles.Length + j, GetSample(i).Styles[j]);
}
}
start += Controller.Styles.Length * PointSamples;
//Input Previous Bone Positions / Velocities
Matrix4x4 previousRoot = Trajectory.Points[RootPointIndex - 1].GetTransformation();
//Fix for flat terrain
Transformations.SetPosition(
ref previousRoot,
new Vector3(previousRoot.GetPosition().x, 0f, previousRoot.GetPosition().z)
);
//
for (int i = 0; i < Joints.Length; i++)
{
Vector3 pos = Positions[i].GetRelativePositionTo(previousRoot);
Vector3 forward = Forwards[i].GetRelativeDirectionTo(previousRoot);
Vector3 up = Ups[i].GetRelativeDirectionTo(previousRoot);
Vector3 vel = Velocities[i].GetRelativeDirectionTo(previousRoot);
MLP.SetInput(start + i * JointDimIn + 0, pos.x);
MLP.SetInput(start + i * JointDimIn + 1, pos.y);
MLP.SetInput(start + i * JointDimIn + 2, pos.z);
MLP.SetInput(start + i * JointDimIn + 3, forward.x);
MLP.SetInput(start + i * JointDimIn + 4, forward.y);
MLP.SetInput(start + i * JointDimIn + 5, forward.z);
MLP.SetInput(start + i * JointDimIn + 6, up.x);
MLP.SetInput(start + i * JointDimIn + 7, up.y);
MLP.SetInput(start + i * JointDimIn + 8, up.z);
MLP.SetInput(start + i * JointDimIn + 9, vel.x);
MLP.SetInput(start + i * JointDimIn + 10, vel.y);
MLP.SetInput(start + i * JointDimIn + 11, vel.z);
}
start += JointDimIn * Joints.Length;
if (name == "Wolf_MLP_P")
{
MLP.SetInput(start, Phase); start += 1;
}
//Predict
MLP.Predict();
//Update Past Trajectory
for (int i = 0; i < RootPointIndex; i++)
{
Trajectory.Points[i].SetPosition(Trajectory.Points[i + 1].GetPosition());
Trajectory.Points[i].SetDirection(Trajectory.Points[i + 1].GetDirection());
Trajectory.Points[i].SetVelocity(Trajectory.Points[i + 1].GetVelocity());
Trajectory.Points[i].SetLeftsample(Trajectory.Points[i + 1].GetLeftSample());
Trajectory.Points[i].SetRightSample(Trajectory.Points[i + 1].GetRightSample());
Trajectory.Points[i].SetSlope(Trajectory.Points[i + 1].GetSlope());
for (int j = 0; j < Trajectory.Points[i].Styles.Length; j++)
{
Trajectory.Points[i].Styles[j] = Trajectory.Points[i + 1].Styles[j];
}
}
//Update Current Trajectory
int end = 6 * 4 + JointDimOut * Joints.Length;
Vector3 translationalOffset = new Vector3(MLP.GetOutput(end + 0), 0f, MLP.GetOutput(end + 1));
float angularOffset = MLP.GetOutput(end + 2);
Trajectory.Points[RootPointIndex].SetPosition(translationalOffset.GetRelativePositionFrom(currentRoot));
Trajectory.Points[RootPointIndex].SetDirection(Quaternion.AngleAxis(angularOffset, Vector3.up) * Trajectory.Points[RootPointIndex].GetDirection());
Trajectory.Points[RootPointIndex].Postprocess();
Matrix4x4 nextRoot = Trajectory.Points[RootPointIndex].GetTransformation();
//Fix for flat terrain
Transformations.SetPosition(
ref nextRoot,
new Vector3(nextRoot.GetPosition().x, 0f, nextRoot.GetPosition().z)
);
//
//Update Future Trajectory
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Points[i].SetPosition(Trajectory.Points[i].GetPosition() + translationalOffset.GetRelativeDirectionFrom(nextRoot));
}
start = 0;
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
//ROOT 1 2 3 4 5
//.x....x.......x.......x.......x.......x
int index = i;
int prevSampleIndex = GetPreviousSample(index).GetIndex() / PointDensity;
int nextSampleIndex = GetNextSample(index).GetIndex() / PointDensity;
float factor = (float)(i % PointDensity) / PointDensity;
float prevPosX = MLP.GetOutput(start + (prevSampleIndex - 6) * 4 + 0);
float prevPosZ = MLP.GetOutput(start + (prevSampleIndex - 6) * 4 + 1);
float prevDirX = MLP.GetOutput(start + (prevSampleIndex - 6) * 4 + 2);
float prevDirZ = MLP.GetOutput(start + (prevSampleIndex - 6) * 4 + 3);
float nextPosX = MLP.GetOutput(start + (nextSampleIndex - 6) * 4 + 0);
float nextPosZ = MLP.GetOutput(start + (nextSampleIndex - 6) * 4 + 1);
float nextDirX = MLP.GetOutput(start + (nextSampleIndex - 6) * 4 + 2);
float nextDirZ = MLP.GetOutput(start + (nextSampleIndex - 6) * 4 + 3);
float posX = (1f - factor) * prevPosX + factor * nextPosX;
float posZ = (1f - factor) * prevPosZ + factor * nextPosZ;
float dirX = (1f - factor) * prevDirX + factor * nextDirX;
float dirZ = (1f - factor) * prevDirZ + factor * nextDirZ;
Trajectory.Points[i].SetPosition(
Utility.Interpolate(
Trajectory.Points[i].GetPosition(),
new Vector3(posX, 0f, posZ).GetRelativePositionFrom(nextRoot),
TrajectoryCorrection
)
);
Trajectory.Points[i].SetDirection(
Utility.Interpolate(
Trajectory.Points[i].GetDirection(),
new Vector3(dirX, 0f, dirZ).normalized.GetRelativeDirectionFrom(nextRoot),
TrajectoryCorrection
)
);
}
start += 6 * 4;
for (int i = RootPointIndex + PointDensity; i < Trajectory.Points.Length; i += PointDensity)
{
Trajectory.Points[i].Postprocess();
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Point prev = GetPreviousSample(i);
Trajectory.Point next = GetNextSample(i);
float factor = (float)(i % PointDensity) / PointDensity;
Trajectory.Points[i].SetPosition(((1f - factor) * prev.GetPosition() + factor * next.GetPosition()));
Trajectory.Points[i].SetDirection(((1f - factor) * prev.GetDirection() + factor * next.GetDirection()));
Trajectory.Points[i].SetVelocity((1f - factor) * prev.GetVelocity() + factor * next.GetVelocity());
Trajectory.Points[i].SetLeftsample((1f - factor) * prev.GetLeftSample() + factor * next.GetLeftSample());
Trajectory.Points[i].SetRightSample((1f - factor) * prev.GetRightSample() + factor * next.GetRightSample());
Trajectory.Points[i].SetSlope((1f - factor) * prev.GetSlope() + factor * next.GetSlope());
}
Trajectory.Points[RootPointIndex].SetVelocity((Trajectory.GetLast().GetPosition() - transform.position).magnitude); //Correct Current Smoothed Root Velocity
//Compute Posture
for (int i = 0; i < Joints.Length; i++)
{
Vector3 position = new Vector3(MLP.GetOutput(start + i * JointDimOut + 0), MLP.GetOutput(start + i * JointDimOut + 1), MLP.GetOutput(start + i * JointDimOut + 2));
Vector3 forward = new Vector3(MLP.GetOutput(start + i * JointDimOut + 3), MLP.GetOutput(start + i * JointDimOut + 4), MLP.GetOutput(start + i * JointDimOut + 5)).normalized;
Vector3 up = new Vector3(MLP.GetOutput(start + i * JointDimOut + 6), MLP.GetOutput(start + i * JointDimOut + 7), MLP.GetOutput(start + i * JointDimOut + 8)).normalized;
Vector3 velocity = new Vector3(MLP.GetOutput(start + i * JointDimOut + 9), MLP.GetOutput(start + i * JointDimOut + 10), MLP.GetOutput(start + i * JointDimOut + 11));
Positions[i] = Vector3.Lerp(Positions[i].GetRelativePositionTo(currentRoot) + velocity, position, 0.5f).GetRelativePositionFrom(currentRoot);
Forwards[i] = forward.GetRelativeDirectionFrom(currentRoot);
Ups[i] = up.GetRelativeDirectionFrom(currentRoot);
Velocities[i] = velocity.GetRelativeDirectionFrom(currentRoot);
}
start += JointDimOut * Joints.Length;
//Update Posture
Root.position = nextRoot.GetPosition();
Root.rotation = nextRoot.GetRotation();
for (int i = 0; i < Joints.Length; i++)
{
Joints[i].position = Positions[i];
Joints[i].rotation = Quaternion.LookRotation(Forwards[i], Ups[i]);
}
transform.position = new Vector3(Root.position.x, 0f, Root.position.z); //Fix for flat ground
/*
* if(SolveIK) {
* //Step #1
* for(int i=0; i<IKSolvers.Length; i++) {
* if(IKSolvers[i].name != "Tail") {
* float heightThreshold = i==0 || i==1 ? 0.025f : 0.05f;
* float velocityThreshold = i==0 || i== 1 ? 0.015f : 0.015f;
* Vector3 goal = IKSolvers[i].GetTipPosition();
* IKSolvers[i].Goal.y = goal.y;
* float velocityDelta = (goal - IKSolvers[i].Goal).magnitude;
* float velocityWeight = Utility.Exponential01(velocityDelta / velocityThreshold);
* float heightDelta = goal.y;
* float heightWeight = Utility.Exponential01(heightDelta / heightThreshold);
* float weight = Mathf.Min(velocityWeight, heightWeight);
* IKSolvers[i].Goal = Vector3.Lerp(IKSolvers[i].Goal, goal, weight);
* }
* }
* for(int i=0; i<IKSolvers.Length; i++) {
* if(IKSolvers[i].name != "Tail") {
* IKSolvers[i].ProcessIK();
* }
* }
* for(int i=0; i<Joints.Length; i++) {
* Positions[i] = Joints[i].position;
* //Forwards[i] = Joints[i].forward;
* //Ups[i] = Joints[i].up;
* }
* }
*/
transform.position = Trajectory.Points[RootPointIndex].GetPosition(); //Fix for flat ground
/*
* if(SolveIK) {
* //Step #2
* for(int i=0; i<IKSolvers.Length; i++) {
* IKSolvers[i].Goal = IKSolvers[i].GetTipPosition();
* float height = Utility.GetHeight(IKSolvers[i].Goal, LayerMask.GetMask("Ground"));
* if(IKSolvers[i].name == "Tail") {
* IKSolvers[i].Goal.y = Mathf.Max(height, height + (IKSolvers[i].Goal.y - transform.position.y));
* } else {
* IKSolvers[i].Goal.y = height + (IKSolvers[i].Goal.y - transform.position.y);
* }
* }
* Transform spine = Array.Find(Joints, x => x.name == "Spine1");
* Transform neck = Array.Find(Joints, x => x.name == "Neck");
* Transform leftShoulder = Array.Find(Joints, x => x.name == "LeftShoulder");
* Transform rightShoulder = Array.Find(Joints, x => x.name == "RightShoulder");
* Vector3 spinePosition = spine.position;
* Vector3 neckPosition = neck.position;
* Vector3 leftShoulderPosition = leftShoulder.position;
* Vector3 rightShoulderPosition = rightShoulder.position;
* float spineHeight = Utility.GetHeight(spine.position, LayerMask.GetMask("Ground"));
* float neckHeight = Utility.GetHeight(neck.position, LayerMask.GetMask("Ground"));
* float leftShoulderHeight = Utility.GetHeight(leftShoulder.position, LayerMask.GetMask("Ground"));
* float rightShoulderHeight = Utility.GetHeight(rightShoulder.position, LayerMask.GetMask("Ground"));
* spine.rotation = Quaternion.Slerp(spine.rotation, Quaternion.FromToRotation(neckPosition - spinePosition, new Vector3(neckPosition.x, neckHeight + (neckPosition.y - Root.position.y), neckPosition.z) - spinePosition) * spine.rotation, 0.5f);
* spine.position = new Vector3(spinePosition.x, spineHeight + (spinePosition.y - Root.position.y), spinePosition.z);
* neck.position = new Vector3(neckPosition.x, neckHeight + (neckPosition.y - Root.position.y), neckPosition.z);
* leftShoulder.position = new Vector3(leftShoulderPosition.x, leftShoulderHeight + (leftShoulderPosition.y - Root.position.y), leftShoulderPosition.z);
* rightShoulder.position = new Vector3(rightShoulderPosition.x, rightShoulderHeight + (rightShoulderPosition.y - Root.position.y), rightShoulderPosition.z);
* for(int i=0; i<IKSolvers.Length; i++) {
* IKSolvers[i].ProcessIK();
* }
* }
*/
//Update Skeleton
Character.FetchTransformations(Root);
if (name == "Wolf_MLP_P")
{
//Update Phase
Phase = Mathf.Repeat(Phase + MLP.GetOutput(end + 3), 1f);
}
}
}
void Update()
{
if (NN.Model.Parameters == null)
{
return;
}
//Update Target Direction / Velocity
TargetDirection = Vector3.Lerp(TargetDirection, Quaternion.AngleAxis(Controller.QueryTurn() * 60f, Vector3.up) * Trajectory.Points[RootPointIndex].GetDirection(), TargetBlending);
TargetVelocity = Vector3.Lerp(TargetVelocity, (Quaternion.LookRotation(TargetDirection, Vector3.up) * Controller.QueryMove()).normalized, TargetBlending);
//Update Gait
for (int i = 0; i < Controller.Styles.Length; i++)
{
Trajectory.Points[RootPointIndex].Styles[i] = Utility.Interpolate(Trajectory.Points[RootPointIndex].Styles[i], Controller.Styles[i].Query() ? 1f : 0f, GaitTransition);
}
//For Human Only
// Trajectory.Points[RootPointIndex].Styles[0] = Utility.Interpolate(Trajectory.Points[RootPointIndex].Styles[0], 1.0f - Mathf.Clamp(Vector3.Magnitude(TargetVelocity) / 0.1f, 0.0f, 1.0f), GaitTransition);
// Trajectory.Points[RootPointIndex].Styles[1] = Mathf.Max(Trajectory.Points[RootPointIndex].Styles[1] - Trajectory.Points[RootPointIndex].Styles[2], 0f);
//
/*
* //Blend Trajectory Offset
* Vector3 positionOffset = transform.position - Trajectory.Points[RootPointIndex].GetPosition();
* Quaternion rotationOffset = Quaternion.Inverse(Trajectory.Points[RootPointIndex].GetRotation()) * transform.rotation;
* Trajectory.Points[RootPointIndex].SetPosition(Trajectory.Points[RootPointIndex].GetPosition() + positionOffset);
* Trajectory.Points[RootPointIndex].SetDirection(rotationOffset * Trajectory.Points[RootPointIndex].GetDirection());
*
* for(int i=RootPointIndex; i<Trajectory.Points.Length; i++) {
* float factor = 1f - (i - RootPointIndex)/(RootPointIndex - 1f);
* Trajectory.Points[i].SetPosition(Trajectory.Points[i].GetPosition() + factor*positionOffset);
* }
*/
//Predict Future Trajectory
Vector3[] trajectory_positions_blend = new Vector3[Trajectory.Points.Length];
trajectory_positions_blend[RootPointIndex] = Trajectory.Points[RootPointIndex].GetPosition();
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
float bias_pos = 0.75f;
float bias_dir = 1.25f;
float scale_pos = (1.0f - Mathf.Pow(1.0f - ((float)(i - RootPointIndex) / (RootPointIndex)), bias_pos));
float scale_dir = (1.0f - Mathf.Pow(1.0f - ((float)(i - RootPointIndex) / (RootPointIndex)), bias_dir));
float vel_boost = PoolBias();
float rescale = 1f / (Trajectory.Points.Length - (RootPointIndex + 1f));
trajectory_positions_blend[i] = trajectory_positions_blend[i - 1] + Vector3.Lerp(
Trajectory.Points[i].GetPosition() - Trajectory.Points[i - 1].GetPosition(),
vel_boost * rescale * TargetVelocity,
scale_pos);
Trajectory.Points[i].SetDirection(Vector3.Lerp(Trajectory.Points[i].GetDirection(), TargetDirection, scale_dir));
for (int j = 0; j < Trajectory.Points[i].Styles.Length; j++)
{
Trajectory.Points[i].Styles[j] = Trajectory.Points[RootPointIndex].Styles[j];
}
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Points[i].SetPosition(trajectory_positions_blend[i]);
}
for (int i = RootPointIndex; i < Trajectory.Points.Length; i += PointDensity)
{
Trajectory.Points[i].Postprocess();
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
//ROOT 1 2 3 4 5
//.x....x.......x.......x.......x.......x
Trajectory.Point prev = GetPreviousSample(i);
Trajectory.Point next = GetNextSample(i);
float factor = (float)(i % PointDensity) / PointDensity;
Trajectory.Points[i].SetPosition((1f - factor) * prev.GetPosition() + factor * next.GetPosition());
Trajectory.Points[i].SetDirection((1f - factor) * prev.GetDirection() + factor * next.GetDirection());
Trajectory.Points[i].SetLeftsample((1f - factor) * prev.GetLeftSample() + factor * next.GetLeftSample());
Trajectory.Points[i].SetRightSample((1f - factor) * prev.GetRightSample() + factor * next.GetRightSample());
Trajectory.Points[i].SetSlope((1f - factor) * prev.GetSlope() + factor * next.GetSlope());
}
//Avoid Collisions
CollisionChecks(RootPointIndex + 1);
if (NN.Model.Parameters != null)
{
//Calculate Root
Matrix4x4 currentRoot = Trajectory.Points[RootPointIndex].GetTransformation();
Matrix4x4 previousRoot = Trajectory.Points[RootPointIndex - 1].GetTransformation();
//Input Trajectory Positions / Directions
for (int i = 0; i < PointSamples; i++)
{
Vector3 pos = Trajectory.Points[i * PointDensity].GetPosition().GetRelativePositionTo(currentRoot);
Vector3 dir = Trajectory.Points[i * PointDensity].GetDirection().GetRelativeDirectionTo(currentRoot);
NN.Model.SetInput(PointSamples * 0 + i, UnitScale * pos.x);
NN.Model.SetInput(PointSamples * 1 + i, UnitScale * pos.z);
NN.Model.SetInput(PointSamples * 2 + i, dir.x);
NN.Model.SetInput(PointSamples * 3 + i, dir.z);
}
//Input Trajectory Gaits
for (int i = 0; i < PointSamples; i++)
{
for (int j = 0; j < Trajectory.Points[i * PointDensity].Styles.Length; j++)
{
NN.Model.SetInput(PointSamples * (4 + j) + i, Trajectory.Points[i * PointDensity].Styles[j]);
}
//FOR HUMAN ONLY - No terrain for us.
// NN.Model.SetInput(PointSamples*8 + i, Trajectory.Points[i*PointDensity].GetSlope());
//
}
//Input Previous Bone Positions / Velocities
for (int i = 0; i < Joints.Length; i++)
{
int o = 6 * PointSamples;
Vector3 pos = Joints[i].position.GetRelativePositionTo(previousRoot);
Vector3 vel = Velocities[i].GetRelativeDirectionTo(previousRoot);
NN.Model.SetInput(o + Joints.Length * 3 * 0 + i * 3 + 0, UnitScale * pos.x);
NN.Model.SetInput(o + Joints.Length * 3 * 0 + i * 3 + 1, UnitScale * pos.y);
NN.Model.SetInput(o + Joints.Length * 3 * 0 + i * 3 + 2, UnitScale * pos.z);
NN.Model.SetInput(o + Joints.Length * 3 * 1 + i * 3 + 0, UnitScale * vel.x);
NN.Model.SetInput(o + Joints.Length * 3 * 1 + i * 3 + 1, UnitScale * vel.y);
NN.Model.SetInput(o + Joints.Length * 3 * 1 + i * 3 + 2, UnitScale * vel.z);
}
// //Input Trajectory Heights - No hieght in our model
// for(int i=0; i<PointSamples; i++) {
// int o = 10*PointSamples + Joints.Length*3*2;
// NN.Model.SetInput(o + PointSamples*0 + i, UnitScale * (Trajectory.Points[i*PointDensity].GetRightSample().y - currentRoot.GetPosition().y));
// NN.Model.SetInput(o + PointSamples*1 + i, UnitScale * (Trajectory.Points[i*PointDensity].GetPosition().y - currentRoot.GetPosition().y));
// NN.Model.SetInput(o + PointSamples*2 + i, UnitScale * (Trajectory.Points[i*PointDensity].GetLeftSample().y - currentRoot.GetPosition().y));
// }
//Predict
start = Time.realtimeSinceStartup;
NN.Model.Predict();
end = Time.realtimeSinceStartup;
time[predcount % 1000] = end - start;
predcount++;
if (predcount >= 1000)
{
sum = 0f;
for (int i = 0; i < time.Length; i++)
{
sum += time[i];
}
Debug.Log(sum / time.Length);
}
//Update Past Trajectory
for (int i = 0; i < RootPointIndex; i++)
{
Trajectory.Points[i].SetPosition(Trajectory.Points[i + 1].GetPosition());
Trajectory.Points[i].SetDirection(Trajectory.Points[i + 1].GetDirection());
Trajectory.Points[i].SetLeftsample(Trajectory.Points[i + 1].GetLeftSample());
Trajectory.Points[i].SetRightSample(Trajectory.Points[i + 1].GetRightSample());
Trajectory.Points[i].SetSlope(Trajectory.Points[i + 1].GetSlope());
for (int j = 0; j < Trajectory.Points[i].Styles.Length; j++)
{
Trajectory.Points[i].Styles[j] = Trajectory.Points[i + 1].Styles[j];
}
}
//Update Current Trajectory
float rest = 1.0f; //Mathf.Pow(1.0f-Trajectory.Points[RootPointIndex].Styles[0], 0.25f);
Trajectory.Points[RootPointIndex].SetPosition((rest * new Vector3(NN.Model.GetOutput(0) / UnitScale, 0f, NN.Model.GetOutput(1) / UnitScale)).GetRelativePositionFrom(currentRoot));
// Trajectory.Points[RootPointIndex].SetDirection(Quaternion.AngleAxis(rest * Mathf.Rad2Deg * (-NN.Model.GetOutput(2)), Vector3.up) * Trajectory.Points[RootPointIndex].GetDirection());
Trajectory.Points[RootPointIndex].SetDirection(Quaternion.AngleAxis(rest * (NN.Model.GetOutput(2)), Vector3.up) * Trajectory.Points[RootPointIndex].GetDirection());
Trajectory.Points[RootPointIndex].Postprocess();
Matrix4x4 nextRoot = Trajectory.Points[RootPointIndex].GetTransformation();
//Update Future Trajectory
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Points[i].SetPosition(Trajectory.Points[i].GetPosition() + (rest * new Vector3(NN.Model.GetOutput(0) / UnitScale, 0f, NN.Model.GetOutput(1) / UnitScale)).GetRelativeDirectionFrom(nextRoot));
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
int w = RootSampleIndex;
float m = Mathf.Repeat(((float)i - (float)RootPointIndex) / (float)PointDensity, 1.0f);
float posX = (1 - m) * NN.Model.GetOutput(4 + (w * 0) + (i / PointDensity) - w) + m * NN.Model.GetOutput(4 + (w * 0) + (i / PointDensity) - w + 1);
float posZ = (1 - m) * NN.Model.GetOutput(4 + (w * 1) + (i / PointDensity) - w) + m * NN.Model.GetOutput(4 + (w * 1) + (i / PointDensity) - w + 1);
float dirX = (1 - m) * NN.Model.GetOutput(4 + (w * 2) + (i / PointDensity) - w) + m * NN.Model.GetOutput(4 + (w * 2) + (i / PointDensity) - w + 1);
float dirZ = (1 - m) * NN.Model.GetOutput(4 + (w * 3) + (i / PointDensity) - w) + m * NN.Model.GetOutput(4 + (w * 3) + (i / PointDensity) - w + 1);
Trajectory.Points[i].SetPosition(
Utility.Interpolate(
Trajectory.Points[i].GetPosition(),
new Vector3(posX / UnitScale, 0f, posZ / UnitScale).GetRelativePositionFrom(nextRoot),
TrajectoryCorrection
)
);
Trajectory.Points[i].SetDirection(
Utility.Interpolate(
Trajectory.Points[i].GetDirection(),
new Vector3(dirX, 0f, dirZ).normalized.GetRelativeDirectionFrom(nextRoot),
TrajectoryCorrection
)
);
}
for (int i = RootPointIndex + PointDensity; i < Trajectory.Points.Length; i += PointDensity)
{
Trajectory.Points[i].Postprocess();
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
//ROOT 1 2 3 4 5
//.x....x.......x.......x.......x.......x
Trajectory.Point prev = GetPreviousSample(i);
Trajectory.Point next = GetNextSample(i);
float factor = (float)(i % PointDensity) / PointDensity;
Trajectory.Points[i].SetPosition((1f - factor) * prev.GetPosition() + factor * next.GetPosition());
Trajectory.Points[i].SetDirection((1f - factor) * prev.GetDirection() + factor * next.GetDirection());
Trajectory.Points[i].SetLeftsample((1f - factor) * prev.GetLeftSample() + factor * next.GetLeftSample());
Trajectory.Points[i].SetRightSample((1f - factor) * prev.GetRightSample() + factor * next.GetRightSample());
Trajectory.Points[i].SetSlope((1f - factor) * prev.GetSlope() + factor * next.GetSlope());
}
//Avoid Collisions
CollisionChecks(RootPointIndex);
//Compute Posture
Vector3[] positions = new Vector3[Joints.Length];
// Quaternion[] rotations = new Quaternion[Joints.Length];
int opos = 4 + 4 * RootSampleIndex + Joints.Length * 3 * 0;
int ovel = 4 + 4 * RootSampleIndex + Joints.Length * 3 * 1;
int orot = 4 + 4 * RootSampleIndex + Joints.Length * 3 * 2;
int orot2 = 4 + 4 * RootSampleIndex + Joints.Length * 3 * 3;
for (int i = 0; i < Joints.Length; i++)
{
Vector3 position = new Vector3(NN.Model.GetOutput(opos + i * 3 + 0), NN.Model.GetOutput(opos + i * 3 + 1), NN.Model.GetOutput(opos + i * 3 + 2)) / UnitScale;
Vector3 velocity = new Vector3(NN.Model.GetOutput(ovel + i * 3 + 0), NN.Model.GetOutput(ovel + i * 3 + 1), NN.Model.GetOutput(ovel + i * 3 + 2)) / UnitScale;
Vector3 forward = new Vector3(NN.Model.GetOutput(orot + i * 3 + 0), NN.Model.GetOutput(orot + i * 3 + 1), NN.Model.GetOutput(orot + i * 3 + 2)) / UnitScale;
Vector3 up = new Vector3(NN.Model.GetOutput(orot2 + i * 3 + 0), NN.Model.GetOutput(orot2 + i * 3 + 1), NN.Model.GetOutput(orot2 + i * 3 + 2)) / UnitScale;
//Quaternion rotation = new Quaternion(PFNN.GetOutput(orot+i*3+0), PFNN.GetOutput(orot+i*3+1), PFNN.GetOutput(orot+i*3+2), 0f).Exp();
positions[i] = Vector3.Lerp(Joints[i].position.GetRelativePositionTo(currentRoot) + velocity, position, 0.5f).GetRelativePositionFrom(currentRoot);
Velocities[i] = velocity.GetRelativeDirectionFrom(currentRoot);
Forwards[i] = forward.normalized.GetRelativeDirectionFrom(currentRoot);
Ups[i] = up.normalized.GetRelativeDirectionFrom(currentRoot);
//rotations[i] = rotation.GetRelativeRotationFrom(currentRoot);
}
//Update Posture
Root.position = nextRoot.GetPosition();
Root.rotation = nextRoot.GetRotation();
for (int i = 0; i < Joints.Length; i++)
{
Joints[i].position = positions[i];
Joints[i].rotation = Quaternion.LookRotation(Forwards[i], Ups[i]);
}
//Map to Character
Character.FetchTransformations(Root);
//Update Phase
((PFNN)NN.Model).SetPhase(Mathf.Repeat(((PFNN)NN.Model).GetPhase() + (rest * 0.9f + 0.1f) * NN.Model.GetOutput(3) * 2f * Mathf.PI, 2f * Mathf.PI));
}
}
void Update()
{
if (NN.Parameters == null)
{
return;
}
//Update Target Direction / Velocity
TargetDirection = Vector3.Lerp(TargetDirection, Quaternion.AngleAxis(Controller.QueryTurn() * 60f, Vector3.up) * Trajectory.Points[RootPointIndex].GetDirection(), TargetBlending);
TargetVelocity = Vector3.Lerp(TargetVelocity, (Quaternion.LookRotation(TargetDirection, Vector3.up) * Controller.QueryMove()).normalized, TargetBlending);
//Update Gait
for (int i = 0; i < Controller.Styles.Length; i++)
{
Trajectory.Points[RootPointIndex].Styles[i] = Utility.Interpolate(Trajectory.Points[RootPointIndex].Styles[i], Controller.Styles[i].Query() ? 1f : 0f, GaitTransition);
}
//Predict Future Trajectory
Vector3[] trajectory_positions_blend = new Vector3[Trajectory.Points.Length];
trajectory_positions_blend[RootPointIndex] = Trajectory.Points[RootPointIndex].GetPosition();
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
float bias_pos = 0.75f;
float bias_dir = 1.25f;
float scale_pos = (1.0f - Mathf.Pow(1.0f - ((float)(i - RootPointIndex) / (RootPointIndex)), bias_pos));
float scale_dir = (1.0f - Mathf.Pow(1.0f - ((float)(i - RootPointIndex) / (RootPointIndex)), bias_dir));
float vel_boost = PoolBias();
float rescale = 1f / (Trajectory.Points.Length - (RootPointIndex + 1f));
trajectory_positions_blend[i] = trajectory_positions_blend[i - 1] + Vector3.Lerp(
Trajectory.Points[i].GetPosition() - Trajectory.Points[i - 1].GetPosition(),
vel_boost * rescale * TargetVelocity,
scale_pos);
Trajectory.Points[i].SetDirection(Vector3.Lerp(Trajectory.Points[i].GetDirection(), TargetDirection, scale_dir));
for (int j = 0; j < Trajectory.Points[i].Styles.Length; j++)
{
Trajectory.Points[i].Styles[j] = Trajectory.Points[RootPointIndex].Styles[j];
}
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Points[i].SetPosition(trajectory_positions_blend[i]);
}
for (int i = RootPointIndex; i < Trajectory.Points.Length; i += PointDensity)
{
Trajectory.Points[i].Postprocess();
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
//ROOT 1 2 3 4 5
//.x....x.......x.......x.......x.......x
Trajectory.Point prev = GetPreviousSample(i);
Trajectory.Point next = GetNextSample(i);
float factor = (float)(i % PointDensity) / PointDensity;
Trajectory.Points[i].SetPosition((1f - factor) * prev.GetPosition() + factor * next.GetPosition());
Trajectory.Points[i].SetDirection((1f - factor) * prev.GetDirection() + factor * next.GetDirection());
Trajectory.Points[i].SetLeftsample((1f - factor) * prev.GetLeftSample() + factor * next.GetLeftSample());
Trajectory.Points[i].SetRightSample((1f - factor) * prev.GetRightSample() + factor * next.GetRightSample());
Trajectory.Points[i].SetSlope((1f - factor) * prev.GetSlope() + factor * next.GetSlope());
}
//Avoid Collisions
CollisionChecks(RootPointIndex + 1);
if (NN.Parameters != null)
{
//Calculate Root
Matrix4x4 currentRoot = Trajectory.Points[RootPointIndex].GetTransformation();
Matrix4x4 previousRoot = Trajectory.Points[RootPointIndex - 1].GetTransformation();
//Input Trajectory Positions / Directions
for (int i = 0; i < PointSamples; i++)
{
Vector3 pos = Trajectory.Points[i * PointDensity].GetPosition().GetRelativePositionTo(currentRoot);
Vector3 dir = Trajectory.Points[i * PointDensity].GetDirection().GetRelativeDirectionTo(currentRoot);
NN.SetInput(PointSamples * 0 + i, UnitScale * pos.x);
NN.SetInput(PointSamples * 1 + i, UnitScale * pos.z);
NN.SetInput(PointSamples * 2 + i, dir.x);
NN.SetInput(PointSamples * 3 + i, dir.z);
}
//Input Trajectory Gaits
for (int i = 0; i < PointSamples; i++)
{
for (int j = 0; j < Trajectory.Points[i * PointDensity].Styles.Length; j++)
{
NN.SetInput(PointSamples * (4 + j) + i, Trajectory.Points[i * PointDensity].Styles[j]);
}
//FOR HUMAN ONLY
NN.SetInput(PointSamples * 8 + i, Trajectory.Points[i * PointDensity].GetSlope());
//
}
//Input Previous Bone Positions / Velocities
for (int i = 0; i < Actor.Bones.Length; i++)
{
int o = 10 * PointSamples;
Vector3 pos = Positions[i].GetRelativePositionTo(previousRoot);
Vector3 vel = Velocities[i].GetRelativeDirectionTo(previousRoot);
NN.SetInput(o + Actor.Bones.Length * 3 * 0 + i * 3 + 0, UnitScale * pos.x);
NN.SetInput(o + Actor.Bones.Length * 3 * 0 + i * 3 + 1, UnitScale * pos.y);
NN.SetInput(o + Actor.Bones.Length * 3 * 0 + i * 3 + 2, UnitScale * pos.z);
NN.SetInput(o + Actor.Bones.Length * 3 * 1 + i * 3 + 0, UnitScale * vel.x);
NN.SetInput(o + Actor.Bones.Length * 3 * 1 + i * 3 + 1, UnitScale * vel.y);
NN.SetInput(o + Actor.Bones.Length * 3 * 1 + i * 3 + 2, UnitScale * vel.z);
}
//Input Trajectory Heights
for (int i = 0; i < PointSamples; i++)
{
int o = 10 * PointSamples + Actor.Bones.Length * 3 * 2;
NN.SetInput(o + PointSamples * 0 + i, UnitScale * (Trajectory.Points[i * PointDensity].GetRightSample().y - currentRoot.GetPosition().y));
NN.SetInput(o + PointSamples * 1 + i, UnitScale * (Trajectory.Points[i * PointDensity].GetPosition().y - currentRoot.GetPosition().y));
NN.SetInput(o + PointSamples * 2 + i, UnitScale * (Trajectory.Points[i * PointDensity].GetLeftSample().y - currentRoot.GetPosition().y));
}
//Predict
float tmp = Trajectory.Points[RootPointIndex].Styles.Length == 0 ? 1 : Trajectory.Points[RootPointIndex].Styles[0];
float rest = Mathf.Pow(1.0f - tmp, 0.25f);
NN.SetDamping(1f - (rest * 0.9f + 0.1f));
NN.Predict();
//Update Past Trajectory
for (int i = 0; i < RootPointIndex; i++)
{
Trajectory.Points[i].SetPosition(Trajectory.Points[i + 1].GetPosition());
Trajectory.Points[i].SetDirection(Trajectory.Points[i + 1].GetDirection());
Trajectory.Points[i].SetLeftsample(Trajectory.Points[i + 1].GetLeftSample());
Trajectory.Points[i].SetRightSample(Trajectory.Points[i + 1].GetRightSample());
Trajectory.Points[i].SetSlope(Trajectory.Points[i + 1].GetSlope());
for (int j = 0; j < Trajectory.Points[i].Styles.Length; j++)
{
Trajectory.Points[i].Styles[j] = Trajectory.Points[i + 1].Styles[j];
}
}
//Update Current Trajectory
Trajectory.Points[RootPointIndex].SetPosition((rest * new Vector3(NN.GetOutput(0) / UnitScale, 0f, NN.GetOutput(1) / UnitScale)).GetRelativePositionFrom(currentRoot));
Trajectory.Points[RootPointIndex].SetDirection(Quaternion.AngleAxis(rest * Mathf.Rad2Deg * (-NN.GetOutput(2)), Vector3.up) * Trajectory.Points[RootPointIndex].GetDirection());
Trajectory.Points[RootPointIndex].Postprocess();
Matrix4x4 nextRoot = Trajectory.Points[RootPointIndex].GetTransformation();
//Update Future Trajectory
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Points[i].SetPosition(Trajectory.Points[i].GetPosition() + (rest * new Vector3(NN.GetOutput(0) / UnitScale, 0f, NN.GetOutput(1) / UnitScale)).GetRelativeDirectionFrom(nextRoot));
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
int w = RootSampleIndex;
float m = Mathf.Repeat(((float)i - (float)RootPointIndex) / (float)PointDensity, 1.0f);
float posX = (1 - m) * NN.GetOutput(8 + (w * 0) + (i / PointDensity) - w) + m * NN.GetOutput(8 + (w * 0) + (i / PointDensity) - w + 1);
float posZ = (1 - m) * NN.GetOutput(8 + (w * 1) + (i / PointDensity) - w) + m * NN.GetOutput(8 + (w * 1) + (i / PointDensity) - w + 1);
float dirX = (1 - m) * NN.GetOutput(8 + (w * 2) + (i / PointDensity) - w) + m * NN.GetOutput(8 + (w * 2) + (i / PointDensity) - w + 1);
float dirZ = (1 - m) * NN.GetOutput(8 + (w * 3) + (i / PointDensity) - w) + m * NN.GetOutput(8 + (w * 3) + (i / PointDensity) - w + 1);
Trajectory.Points[i].SetPosition(
Utility.Interpolate(
Trajectory.Points[i].GetPosition(),
new Vector3(posX / UnitScale, 0f, posZ / UnitScale).GetRelativePositionFrom(nextRoot),
TrajectoryCorrection
)
);
Trajectory.Points[i].SetDirection(
Utility.Interpolate(
Trajectory.Points[i].GetDirection(),
new Vector3(dirX, 0f, dirZ).normalized.GetRelativeDirectionFrom(nextRoot),
TrajectoryCorrection
)
);
}
for (int i = RootPointIndex + PointDensity; i < Trajectory.Points.Length; i += PointDensity)
{
Trajectory.Points[i].Postprocess();
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
//ROOT 1 2 3 4 5
//.x....x.......x.......x.......x.......x
Trajectory.Point prev = GetPreviousSample(i);
Trajectory.Point next = GetNextSample(i);
float factor = (float)(i % PointDensity) / PointDensity;
Trajectory.Points[i].SetPosition((1f - factor) * prev.GetPosition() + factor * next.GetPosition());
Trajectory.Points[i].SetDirection((1f - factor) * prev.GetDirection() + factor * next.GetDirection());
Trajectory.Points[i].SetLeftsample((1f - factor) * prev.GetLeftSample() + factor * next.GetLeftSample());
Trajectory.Points[i].SetRightSample((1f - factor) * prev.GetRightSample() + factor * next.GetRightSample());
Trajectory.Points[i].SetSlope((1f - factor) * prev.GetSlope() + factor * next.GetSlope());
}
//Avoid Collisions
CollisionChecks(RootPointIndex);
//Compute Posture
int opos = 8 + 4 * RootSampleIndex + Actor.Bones.Length * 3 * 0;
int ovel = 8 + 4 * RootSampleIndex + Actor.Bones.Length * 3 * 1;
int orot = 8 + 4 * RootSampleIndex + Actor.Bones.Length * 3 * 2;
for (int i = 0; i < Actor.Bones.Length; i++)
{
Vector3 position = new Vector3(NN.GetOutput(opos + i * 3 + 0), NN.GetOutput(opos + i * 3 + 1), NN.GetOutput(opos + i * 3 + 2)) / UnitScale;
Vector3 velocity = new Vector3(NN.GetOutput(ovel + i * 3 + 0), NN.GetOutput(ovel + i * 3 + 1), NN.GetOutput(ovel + i * 3 + 2)) / UnitScale;
//Adjust for VRoid
if (i >= 13 && i <= 16)
{
position.z -= 0.06f;
}
if (i == 0 || i == 11 || i == 12)
{
position.z -= 0.02f;
}
if (i == 17 || i == 24)
{
position.z -= 0.05f;
}
if (i == 16)
{
position.y -= 0.01f;
}
Positions[i] = Vector3.Lerp(Positions[i].GetRelativePositionTo(currentRoot) + velocity, position, 0.5f);
Velocities[i] = velocity.GetRelativeDirectionFrom(currentRoot);
}
for (int i = 0; i < Actor.Bones.Length; i++)
{
if (i + 1 < Actor.Bones.Length)
{
Rotations[i] = Quaternion.FromToRotation(RotationsFrom[i], Positions[i + 1] - Positions[i]);
}
Rotations[i] = Rotations[i].GetRelativeRotationFrom(currentRoot);
Positions[i] = Positions[i].GetRelativePositionFrom(currentRoot);
}
//Update Posture
transform.position = nextRoot.GetPosition();
transform.rotation = nextRoot.GetRotation();
for (int i = 0; i < Actor.Bones.Length; i++)
{
//Adjust for VRoid
if (i == 20 || i == 27)
{
continue;
}
Actor.Bones[i].Transform.position = Positions[i];
//Adjust for VRoid
if (i == 15 || i == 16)
{
continue;
}
Actor.Bones[i].Transform.rotation = Rotations[i];
}
}
}
void Update()
{
if (NN.Parameters == null)
{
return;
}
//Update Target Direction / Velocity， 从控制器可以获得面朝向，移动方向
TargetDirection = Vector3.Lerp(TargetDirection, Quaternion.AngleAxis(Controller.QueryTurn() * 60f, Vector3.up) * Trajectory.Points[RootPointIndex].GetDirection(), TargetBlending);
TargetVelocity = Vector3.Lerp(TargetVelocity, (Quaternion.LookRotation(TargetDirection, Vector3.up) * Controller.QueryMove()).normalized, TargetBlending);
//Update Gait， ， 从控制器获得姿势，这个是float，因为值得改变是每帧插值过去的
for (int i = 0; i < Controller.Styles.Length; i++)
{
Trajectory.Points[RootPointIndex].Styles[i] = Utility.Interpolate(Trajectory.Points[RootPointIndex].Styles[i], Controller.Styles[i].Query() ? 1f : 0f, GaitTransition);
}
//For Human Only
//Trajectory.Points[RootPointIndex].Styles[0] = Utility.Interpolate(Trajectory.Points[RootPointIndex].Styles[0], 1.0f - Mathf.Clamp(Vector3.Magnitude(TargetVelocity) / 0.1f, 0.0f, 1.0f), GaitTransition);
//Trajectory.Points[RootPointIndex].Styles[1] = Mathf.Max(Trajectory.Points[RootPointIndex].Styles[1] - Trajectory.Points[RootPointIndex].Styles[2], 0f);
//
/*
* //Blend Trajectory Offset
* Vector3 positionOffset = transform.position - Trajectory.Points[RootPointIndex].GetPosition();
* Quaternion rotationOffset = Quaternion.Inverse(Trajectory.Points[RootPointIndex].GetRotation()) * transform.rotation;
* Trajectory.Points[RootPointIndex].SetPosition(Trajectory.Points[RootPointIndex].GetPosition() + positionOffset);
* Trajectory.Points[RootPointIndex].SetDirection(rotationOffset * Trajectory.Points[RootPointIndex].GetDirection());
*
* for(int i=RootPointIndex; i<Trajectory.Points.Length; i++) {
* float factor = 1f - (i - RootPointIndex)/(RootPointIndex - 1f);
* Trajectory.Points[i].SetPosition(Trajectory.Points[i].GetPosition() + factor*positionOffset);
* }
*/
//Predict Future Trajectory
Vector3[] trajectory_positions_blend = new Vector3[Trajectory.Points.Length];
trajectory_positions_blend[RootPointIndex] = Trajectory.Points[RootPointIndex].GetPosition();
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
float bias_pos = 0.75f;
float bias_dir = 1.25f;
float scale_pos = (1.0f - Mathf.Pow(1.0f - ((float)(i - RootPointIndex) / (RootPointIndex)), bias_pos));
float scale_dir = (1.0f - Mathf.Pow(1.0f - ((float)(i - RootPointIndex) / (RootPointIndex)), bias_dir));
float vel_boost = PoolBias(); //基本就是1啊
// 因为总共预测得是1秒之后位置，所以每个点相对偏移要乘以这个
float rescale = 1f / (Trajectory.Points.Length - (RootPointIndex + 1f));
// 未来位置相对偏移，是预测位置相对偏移，和当前移动速度 的一个插值
trajectory_positions_blend[i] = trajectory_positions_blend[i - 1] + Vector3.Lerp(
Trajectory.Points[i].GetPosition() - Trajectory.Points[i - 1].GetPosition(),
vel_boost * rescale * TargetVelocity,
scale_pos);
// 未来方向 是预测方向 和 当前方向 的插值
Trajectory.Points[i].SetDirection(Vector3.Lerp(Trajectory.Points[i].GetDirection(), TargetDirection, scale_dir));
// 未来姿势gait是跟当前一致
for (int j = 0; j < Trajectory.Points[i].Styles.Length; j++)
{
Trajectory.Points[i].Styles[j] = Trajectory.Points[RootPointIndex].Styles[j];
}
}
// 设置上位置
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Points[i].SetPosition(trajectory_positions_blend[i]);
}
// 只有整点 来做地形处理，获得高度啥的
for (int i = RootPointIndex; i < Trajectory.Points.Length; i += PointDensity)
{
Trajectory.Points[i].Postprocess();
}
// 其他中间点，都通过整点来插值得到
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
//ROOT 1 2 3 4 5
//.x....x.......x.......x.......x.......x
Trajectory.Point prev = GetPreviousSample(i); // 得到前一个整点
Trajectory.Point next = GetNextSample(i); // 下一个整点
float factor = (float)(i % PointDensity) / PointDensity;
Trajectory.Points[i].SetPosition((1f - factor) * prev.GetPosition() + factor * next.GetPosition());
Trajectory.Points[i].SetDirection((1f - factor) * prev.GetDirection() + factor * next.GetDirection());
Trajectory.Points[i].SetLeftsample((1f - factor) * prev.GetLeftSample() + factor * next.GetLeftSample());
Trajectory.Points[i].SetRightSample((1f - factor) * prev.GetRightSample() + factor * next.GetRightSample());
Trajectory.Points[i].SetSlope((1f - factor) * prev.GetSlope() + factor * next.GetSlope());
}
//Avoid Collisions，跟障碍物Obstacles碰撞后，后面预测的点都维持在碰撞的当前点上
CollisionChecks(RootPointIndex + 1);
if (NN.Parameters != null)
{
//Calculate Root
Matrix4x4 currentRoot = Trajectory.Points[RootPointIndex].GetTransformation();
Matrix4x4 previousRoot = Trajectory.Points[RootPointIndex - 1].GetTransformation();
//Input Trajectory Positions / Directions
for (int i = 0; i < PointSamples; i++)
{
Vector3 pos = Trajectory.Points[i * PointDensity].GetPosition().GetRelativePositionTo(currentRoot);
Vector3 dir = Trajectory.Points[i * PointDensity].GetDirection().GetRelativeDirectionTo(currentRoot);
NN.SetInput(PointSamples * 0 + i, UnitScale * pos.x); // 神经网络输入：先是12个x位置（相对于当前坐标）
NN.SetInput(PointSamples * 1 + i, UnitScale * pos.z); // 12个z位置
NN.SetInput(PointSamples * 2 + i, dir.x); // 12个x方向
NN.SetInput(PointSamples * 3 + i, dir.z); // 12个z方向
}
//Input Trajectory Gaits
for (int i = 0; i < PointSamples; i++) // 12个stand 姿势值， 12个 walk姿势值，12个 jog姿势值，crouch，jump，bump，共12*6
{
for (int j = 0; j < Trajectory.Points[i * PointDensity].Styles.Length; j++)
{
NN.SetInput(PointSamples * (4 + j) + i, Trajectory.Points[i * PointDensity].Styles[j]);
}
//FOR HUMAN ONLY， 这是把jump的gait信息给覆盖了。破面太陡，就自动jump
NN.SetInput(PointSamples * 8 + i, Trajectory.Points[i * PointDensity].GetSlope());
//
}
//Input Previous Bone Positions / Velocities
for (int i = 0; i < Actor.Bones.Length; i++)
{
int o = 10 * PointSamples; // input的index从120开始了
Vector3 pos = Positions[i].GetRelativePositionTo(previousRoot);
Vector3 vel = Velocities[i].GetRelativeDirectionTo(previousRoot);
NN.SetInput(o + Actor.Bones.Length * 3 * 0 + i * 3 + 0, UnitScale * pos.x); // 31个骨骼节点位置信息，x,y,z
NN.SetInput(o + Actor.Bones.Length * 3 * 0 + i * 3 + 1, UnitScale * pos.y);
NN.SetInput(o + Actor.Bones.Length * 3 * 0 + i * 3 + 2, UnitScale * pos.z);
NN.SetInput(o + Actor.Bones.Length * 3 * 1 + i * 3 + 0, UnitScale * vel.x); // 31个骨骼节点速度信息，x,y,z
NN.SetInput(o + Actor.Bones.Length * 3 * 1 + i * 3 + 1, UnitScale * vel.y);
NN.SetInput(o + Actor.Bones.Length * 3 * 1 + i * 3 + 2, UnitScale * vel.z);
}
//Input Trajectory Heights
for (int i = 0; i < PointSamples; i++)
{
int o = 10 * PointSamples + Actor.Bones.Length * 3 * 2; // input的index从120+186=306开始了
NN.SetInput(o + PointSamples * 0 + i, UnitScale * (Trajectory.Points[i * PointDensity].GetRightSample().y - currentRoot.GetPosition().y)); // 12个右边点高度
NN.SetInput(o + PointSamples * 1 + i, UnitScale * (Trajectory.Points[i * PointDensity].GetPosition().y - currentRoot.GetPosition().y)); // 12个中间点高度
NN.SetInput(o + PointSamples * 2 + i, UnitScale * (Trajectory.Points[i * PointDensity].GetLeftSample().y - currentRoot.GetPosition().y)); // 12个左边点高度
}
//Predict
float rest = Mathf.Pow(1.0f - Trajectory.Points[RootPointIndex].Styles[0], 0.25f); // stand为1时，rest为0，阻尼damping为0.9
NN.SetDamping(1f - (rest * 0.9f + 0.1f)); // stand为0时，rest为1，damping为0，从而下帧phase就取 当前phase + 此帧predict后的phase偏移，实际的PhaseIndex=3
NN.Predict();
//Update Past Trajectory,之前的[1,60]帧记录下来到[0,59]
for (int i = 0; i < RootPointIndex; i++)
{
Trajectory.Points[i].SetPosition(Trajectory.Points[i + 1].GetPosition());
Trajectory.Points[i].SetDirection(Trajectory.Points[i + 1].GetDirection());
Trajectory.Points[i].SetLeftsample(Trajectory.Points[i + 1].GetLeftSample());
Trajectory.Points[i].SetRightSample(Trajectory.Points[i + 1].GetRightSample());
Trajectory.Points[i].SetSlope(Trajectory.Points[i + 1].GetSlope());
for (int j = 0; j < Trajectory.Points[i].Styles.Length; j++)
{
Trajectory.Points[i].Styles[j] = Trajectory.Points[i + 1].Styles[j];
}
}
//Update Current Trajectory，Y的 0,1是预测的下一帧的dx，dz，2是预测的下一帧的转向角度
Trajectory.Points[RootPointIndex].SetPosition((rest * new Vector3(NN.GetOutput(0) / UnitScale, 0f, NN.GetOutput(1) / UnitScale)).GetRelativePositionFrom(currentRoot));
Trajectory.Points[RootPointIndex].SetDirection(Quaternion.AngleAxis(rest * Mathf.Rad2Deg * (-NN.GetOutput(2)), Vector3.up) * Trajectory.Points[RootPointIndex].GetDirection());
Trajectory.Points[RootPointIndex].Postprocess();
Matrix4x4 nextRoot = Trajectory.Points[RootPointIndex].GetTransformation();
//Update Future Trajectory，剩下的路径点，用当前帧的路径点 + 本位点预测相对于 实际设置的位置和方向的偏移
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Points[i].SetPosition(Trajectory.Points[i].GetPosition() + (rest * new Vector3(NN.GetOutput(0) / UnitScale, 0f, NN.GetOutput(1) / UnitScale)).GetRelativeDirectionFrom(nextRoot));
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
int w = RootSampleIndex;
float m = Mathf.Repeat(((float)i - (float)RootPointIndex) / (float)PointDensity, 1.0f); // index从8开始
float posX = (1 - m) * NN.GetOutput(8 + (w * 0) + (i / PointDensity) - w) + m * NN.GetOutput(8 + (w * 0) + (i / PointDensity) - w + 1); // 先有6个posX
float posZ = (1 - m) * NN.GetOutput(8 + (w * 1) + (i / PointDensity) - w) + m * NN.GetOutput(8 + (w * 1) + (i / PointDensity) - w + 1); // 6个posZ
float dirX = (1 - m) * NN.GetOutput(8 + (w * 2) + (i / PointDensity) - w) + m * NN.GetOutput(8 + (w * 2) + (i / PointDensity) - w + 1); // 6个dirX
float dirZ = (1 - m) * NN.GetOutput(8 + (w * 3) + (i / PointDensity) - w) + m * NN.GetOutput(8 + (w * 3) + (i / PointDensity) - w + 1); // 6个dirZ
Trajectory.Points[i].SetPosition( //这50个中间的45个点的pos，dir好像白计算了，后面会从12个位点中做插值
Utility.Interpolate(
Trajectory.Points[i].GetPosition(),
new Vector3(posX / UnitScale, 0f, posZ / UnitScale).GetRelativePositionFrom(nextRoot),
TrajectoryCorrection //实际设置位0.75
)
);
Trajectory.Points[i].SetDirection(
Utility.Interpolate(
Trajectory.Points[i].GetDirection(),
new Vector3(dirX, 0f, dirZ).normalized.GetRelativeDirectionFrom(nextRoot),
TrajectoryCorrection
)
);
}
for (int i = RootPointIndex + PointDensity; i < Trajectory.Points.Length; i += PointDensity)
{
Trajectory.Points[i].Postprocess();
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
//ROOT 1 2 3 4 5
//.x....x.......x.......x.......x.......x
Trajectory.Point prev = GetPreviousSample(i);
Trajectory.Point next = GetNextSample(i);
float factor = (float)(i % PointDensity) / PointDensity;
Trajectory.Points[i].SetPosition((1f - factor) * prev.GetPosition() + factor * next.GetPosition());
Trajectory.Points[i].SetDirection((1f - factor) * prev.GetDirection() + factor * next.GetDirection());
Trajectory.Points[i].SetLeftsample((1f - factor) * prev.GetLeftSample() + factor * next.GetLeftSample());
Trajectory.Points[i].SetRightSample((1f - factor) * prev.GetRightSample() + factor * next.GetRightSample());
Trajectory.Points[i].SetSlope((1f - factor) * prev.GetSlope() + factor * next.GetSlope());
}
//Avoid Collisions
CollisionChecks(RootPointIndex);
//Compute Posture
int opos = 8 + 4 * RootSampleIndex + Actor.Bones.Length * 3 * 0; // index从 8+24=30开始，有31*3个骨骼点位置
int ovel = 8 + 4 * RootSampleIndex + Actor.Bones.Length * 3 * 1; // 从30+31*3开始，有93个骨骼点速度
//int orot = 8 + 4*RootSampleIndex + Actor.Bones.Length*3*2;
for (int i = 0; i < Actor.Bones.Length; i++)
{
Vector3 position = new Vector3(NN.GetOutput(opos + i * 3 + 0), NN.GetOutput(opos + i * 3 + 1), NN.GetOutput(opos + i * 3 + 2)) / UnitScale;
Vector3 velocity = new Vector3(NN.GetOutput(ovel + i * 3 + 0), NN.GetOutput(ovel + i * 3 + 1), NN.GetOutput(ovel + i * 3 + 2)) / UnitScale;
//Quaternion rotation = new Quaternion(PFNN.GetOutput(orot+i*3+0), PFNN.GetOutput(orot+i*3+1), PFNN.GetOutput(orot+i*3+2), 0f).Exp();
Positions[i] = Vector3.Lerp(Positions[i].GetRelativePositionTo(currentRoot) + velocity, position, 0.5f).GetRelativePositionFrom(currentRoot);
Velocities[i] = velocity.GetRelativeDirectionFrom(currentRoot);
//rotations[i] = rotation.GetRelativeRotationFrom(currentRoot);
}
//Update Posture
transform.position = nextRoot.GetPosition();
transform.rotation = nextRoot.GetRotation();
for (int i = 0; i < Actor.Bones.Length; i++)
{
Actor.Bones[i].Transform.position = Positions[i]; //也就是说这个允许各个拉伸，但没有任何旋转，这应该是它跟Adam的区别。
Actor.Bones[i].Transform.rotation = Quaternion.LookRotation(Forwards[i], Ups[i]);
}
}
}
void Update()
{
if (NN.Parameters == null)
{
return;
}
if (activeSpline)
{
if (SplineController.Style.type == BezierSolution.BezierPoint.StatusMode.Wait && !Controller.waiting)
{
Controller.waiting = true;
Invoke("StopWaiting", Controller.getCurrentPoints()[0].timeout);
}
else
{
Vector3 targetDir = Controller.getTransition(transform);
TargetDirection = Vector3.Lerp(TargetDirection, targetDir, TargetBlending);
TargetVelocity = Vector3.Lerp(TargetVelocity, (Quaternion.LookRotation(TargetDirection, Vector3.up) * Controller.QueryMove()).normalized, TargetBlending);
}
}
else
{
//Update Target Direction / Velocity
TargetDirection = Vector3.Lerp(TargetDirection, Quaternion.AngleAxis(Controller.QueryTurn() * 60f, Vector3.up) * Trajectory.Points[RootPointIndex].GetDirection(), TargetBlending);
TargetVelocity = Vector3.Lerp(TargetVelocity, (Quaternion.LookRotation(TargetDirection, Vector3.up) * Controller.QueryMove()).normalized, TargetBlending);
}
//Update Gait
for (int i = 0; i < Controller.Styles.Length; i++)
{
Trajectory.Points[RootPointIndex].Styles[i] = Utility.Interpolate(Trajectory.Points[RootPointIndex].Styles[i], Controller.Styles[i].Query() ? 1f : 0f, GaitTransition);
}
//For Human Only
Trajectory.Points[RootPointIndex].Styles[0] = Utility.Interpolate(Trajectory.Points[RootPointIndex].Styles[0], 1.0f - Mathf.Clamp(Vector3.Magnitude(TargetVelocity) / 0.1f, 0.0f, 1.0f), GaitTransition);
Trajectory.Points[RootPointIndex].Styles[1] = Mathf.Max(Trajectory.Points[RootPointIndex].Styles[1] - Trajectory.Points[RootPointIndex].Styles[2], 0f);
//
/*
* //Blend Trajectory Offset
* Vector3 positionOffset = transform.position - Trajectory.Points[RootPointIndex].GetPosition();
* Quaternion rotationOffset = Quaternion.Inverse(Trajectory.Points[RootPointIndex].GetRotation()) * transform.rotation;
* Trajectory.Points[RootPointIndex].SetPosition(Trajectory.Points[RootPointIndex].GetPosition() + positionOffset);
* Trajectory.Points[RootPointIndex].SetDirection(rotationOffset * Trajectory.Points[RootPointIndex].GetDirection());
*
* for(int i=RootPointIndex; i<Trajectory.Points.Length; i++) {
* float factor = 1f - (i - RootPointIndex)/(RootPointIndex - 1f);
* Trajectory.Points[i].SetPosition(Trajectory.Points[i].GetPosition() + factor*positionOffset);
* }
*/
//Predict Future Trajectory
Vector3[] trajectory_positions_blend = new Vector3[Trajectory.Points.Length];
trajectory_positions_blend[RootPointIndex] = Trajectory.Points[RootPointIndex].GetPosition();
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
float bias_pos = 0.75f;
float bias_dir = 1.25f;
float scale_pos = (1.0f - Mathf.Pow(1.0f - ((float)(i - RootPointIndex) / (RootPointIndex)), bias_pos));
float scale_dir = (1.0f - Mathf.Pow(1.0f - ((float)(i - RootPointIndex) / (RootPointIndex)), bias_dir));
float vel_boost = PoolBias();
float rescale = 1f / (Trajectory.Points.Length - (RootPointIndex + 1f));
trajectory_positions_blend[i] = trajectory_positions_blend[i - 1] + Vector3.Lerp(
Trajectory.Points[i].GetPosition() - Trajectory.Points[i - 1].GetPosition(),
vel_boost * rescale * TargetVelocity,
scale_pos);
Trajectory.Points[i].SetDirection(Vector3.Lerp(Trajectory.Points[i].GetDirection(), TargetDirection, scale_dir));
for (int j = 0; j < Trajectory.Points[i].Styles.Length; j++)
{
Trajectory.Points[i].Styles[j] = Trajectory.Points[RootPointIndex].Styles[j];
}
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Points[i].SetPosition(trajectory_positions_blend[i]);
}
for (int i = RootPointIndex; i < Trajectory.Points.Length; i += PointDensity)
{
Trajectory.Points[i].Postprocess();
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
//ROOT 1 2 3 4 5
//.x....x.......x.......x.......x.......x
Trajectory.Point prev = GetPreviousSample(i);
Trajectory.Point next = GetNextSample(i);
float factor = (float)(i % PointDensity) / PointDensity;
Trajectory.Points[i].SetPosition((1f - factor) * prev.GetPosition() + factor * next.GetPosition());
Trajectory.Points[i].SetDirection((1f - factor) * prev.GetDirection() + factor * next.GetDirection());
Trajectory.Points[i].SetLeftsample((1f - factor) * prev.GetLeftSample() + factor * next.GetLeftSample());
Trajectory.Points[i].SetRightSample((1f - factor) * prev.GetRightSample() + factor * next.GetRightSample());
Trajectory.Points[i].SetSlope((1f - factor) * prev.GetSlope() + factor * next.GetSlope());
}
//Avoid Collisions
CollisionChecks(RootPointIndex + 1);
if (NN.Parameters != null)
{
//Calculate Root
Matrix4x4 currentRoot = Trajectory.Points[RootPointIndex].GetTransformation();
Matrix4x4 previousRoot = Trajectory.Points[RootPointIndex - 1].GetTransformation();
//Input Trajectory Positions / Directions
for (int i = 0; i < PointSamples; i++)
{
Vector3 pos = Trajectory.Points[i * PointDensity].GetPosition().GetRelativePositionTo(currentRoot);
Vector3 dir = Trajectory.Points[i * PointDensity].GetDirection().GetRelativeDirectionTo(currentRoot);
NN.SetInput(PointSamples * 0 + i, UnitScale * pos.x);
NN.SetInput(PointSamples * 1 + i, UnitScale * pos.z);
NN.SetInput(PointSamples * 2 + i, dir.x);
NN.SetInput(PointSamples * 3 + i, dir.z);
}
//Input Trajectory Gaits
for (int i = 0; i < PointSamples; i++)
{
for (int j = 0; j < Trajectory.Points[i * PointDensity].Styles.Length; j++)
{
NN.SetInput(PointSamples * (4 + j) + i, Trajectory.Points[i * PointDensity].Styles[j]);
}
//FOR HUMAN ONLY
NN.SetInput(PointSamples * 8 + i, Trajectory.Points[i * PointDensity].GetSlope());
//
}
//Input Previous Bone Positions / Velocities
for (int i = 0; i < Actor.Bones.Length; i++)
{
int o = 10 * PointSamples;
Vector3 pos = Positions[i].GetRelativePositionTo(previousRoot);
Vector3 vel = Velocities[i].GetRelativeDirectionTo(previousRoot);
NN.SetInput(o + Actor.Bones.Length * 3 * 0 + i * 3 + 0, UnitScale * pos.x);
NN.SetInput(o + Actor.Bones.Length * 3 * 0 + i * 3 + 1, UnitScale * pos.y);
NN.SetInput(o + Actor.Bones.Length * 3 * 0 + i * 3 + 2, UnitScale * pos.z);
NN.SetInput(o + Actor.Bones.Length * 3 * 1 + i * 3 + 0, UnitScale * vel.x);
NN.SetInput(o + Actor.Bones.Length * 3 * 1 + i * 3 + 1, UnitScale * vel.y);
NN.SetInput(o + Actor.Bones.Length * 3 * 1 + i * 3 + 2, UnitScale * vel.z);
}
//Input Trajectory Heights
for (int i = 0; i < PointSamples; i++)
{
int o = 10 * PointSamples + Actor.Bones.Length * 3 * 2;
NN.SetInput(o + PointSamples * 0 + i, UnitScale * (Trajectory.Points[i * PointDensity].GetRightSample().y - currentRoot.GetPosition().y));
NN.SetInput(o + PointSamples * 1 + i, UnitScale * (Trajectory.Points[i * PointDensity].GetPosition().y - currentRoot.GetPosition().y));
NN.SetInput(o + PointSamples * 2 + i, UnitScale * (Trajectory.Points[i * PointDensity].GetLeftSample().y - currentRoot.GetPosition().y));
}
//Predict
float rest = Mathf.Pow(1.0f - Trajectory.Points[RootPointIndex].Styles[0], 0.25f);
NN.SetDamping(1f - (rest * 0.9f + 0.1f));
NN.Predict();
//Update Past Trajectory
for (int i = 0; i < RootPointIndex; i++)
{
Trajectory.Points[i].SetPosition(Trajectory.Points[i + 1].GetPosition());
Trajectory.Points[i].SetDirection(Trajectory.Points[i + 1].GetDirection());
Trajectory.Points[i].SetLeftsample(Trajectory.Points[i + 1].GetLeftSample());
Trajectory.Points[i].SetRightSample(Trajectory.Points[i + 1].GetRightSample());
Trajectory.Points[i].SetSlope(Trajectory.Points[i + 1].GetSlope());
for (int j = 0; j < Trajectory.Points[i].Styles.Length; j++)
{
Trajectory.Points[i].Styles[j] = Trajectory.Points[i + 1].Styles[j];
}
}
//Update Current Trajectory
Trajectory.Points[RootPointIndex].SetPosition((rest * new Vector3(NN.GetOutput(0) / UnitScale, 0f, NN.GetOutput(1) / UnitScale)).GetRelativePositionFrom(currentRoot));
Trajectory.Points[RootPointIndex].SetDirection(Quaternion.AngleAxis(rest * Mathf.Rad2Deg * (-NN.GetOutput(2)), Vector3.up) * Trajectory.Points[RootPointIndex].GetDirection());
Trajectory.Points[RootPointIndex].Postprocess();
Matrix4x4 nextRoot = Trajectory.Points[RootPointIndex].GetTransformation();
//Update Future Trajectory
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Points[i].SetPosition(Trajectory.Points[i].GetPosition() + (rest * new Vector3(NN.GetOutput(0) / UnitScale, 0f, NN.GetOutput(1) / UnitScale)).GetRelativeDirectionFrom(nextRoot));
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
int w = RootSampleIndex;
float m = Mathf.Repeat(((float)i - (float)RootPointIndex) / (float)PointDensity, 1.0f);
float posX = (1 - m) * NN.GetOutput(8 + (w * 0) + (i / PointDensity) - w) + m * NN.GetOutput(8 + (w * 0) + (i / PointDensity) - w + 1);
float posZ = (1 - m) * NN.GetOutput(8 + (w * 1) + (i / PointDensity) - w) + m * NN.GetOutput(8 + (w * 1) + (i / PointDensity) - w + 1);
float dirX = (1 - m) * NN.GetOutput(8 + (w * 2) + (i / PointDensity) - w) + m * NN.GetOutput(8 + (w * 2) + (i / PointDensity) - w + 1);
float dirZ = (1 - m) * NN.GetOutput(8 + (w * 3) + (i / PointDensity) - w) + m * NN.GetOutput(8 + (w * 3) + (i / PointDensity) - w + 1);
Trajectory.Points[i].SetPosition(
Utility.Interpolate(
Trajectory.Points[i].GetPosition(),
new Vector3(posX / UnitScale, 0f, posZ / UnitScale).GetRelativePositionFrom(nextRoot),
TrajectoryCorrection
)
);
Trajectory.Points[i].SetDirection(
Utility.Interpolate(
Trajectory.Points[i].GetDirection(),
new Vector3(dirX, 0f, dirZ).normalized.GetRelativeDirectionFrom(nextRoot),
TrajectoryCorrection
)
);
}
for (int i = RootPointIndex + PointDensity; i < Trajectory.Points.Length; i += PointDensity)
{
Trajectory.Points[i].Postprocess();
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
//ROOT 1 2 3 4 5
//.x....x.......x.......x.......x.......x
Trajectory.Point prev = GetPreviousSample(i);
Trajectory.Point next = GetNextSample(i);
float factor = (float)(i % PointDensity) / PointDensity;
Trajectory.Points[i].SetPosition((1f - factor) * prev.GetPosition() + factor * next.GetPosition());
Trajectory.Points[i].SetDirection((1f - factor) * prev.GetDirection() + factor * next.GetDirection());
Trajectory.Points[i].SetLeftsample((1f - factor) * prev.GetLeftSample() + factor * next.GetLeftSample());
Trajectory.Points[i].SetRightSample((1f - factor) * prev.GetRightSample() + factor * next.GetRightSample());
Trajectory.Points[i].SetSlope((1f - factor) * prev.GetSlope() + factor * next.GetSlope());
}
//Avoid Collisions
CollisionChecks(RootPointIndex);
//Compute Posture
int opos = 8 + 4 * RootSampleIndex + Actor.Bones.Length * 3 * 0;
int ovel = 8 + 4 * RootSampleIndex + Actor.Bones.Length * 3 * 1;
//int orot = 8 + 4*RootSampleIndex + Actor.Bones.Length*3*2;
for (int i = 0; i < Actor.Bones.Length; i++)
{
Vector3 position = new Vector3(NN.GetOutput(opos + i * 3 + 0), NN.GetOutput(opos + i * 3 + 1), NN.GetOutput(opos + i * 3 + 2)) / UnitScale;
Vector3 velocity = new Vector3(NN.GetOutput(ovel + i * 3 + 0), NN.GetOutput(ovel + i * 3 + 1), NN.GetOutput(ovel + i * 3 + 2)) / UnitScale;
//Quaternion rotation = new Quaternion(PFNN.GetOutput(orot+i*3+0), PFNN.GetOutput(orot+i*3+1), PFNN.GetOutput(orot+i*3+2), 0f).Exp();
Positions[i] = Vector3.Lerp(Positions[i].GetRelativePositionTo(currentRoot) + velocity, position, 0.5f).GetRelativePositionFrom(currentRoot);
Velocities[i] = velocity.GetRelativeDirectionFrom(currentRoot);
//rotations[i] = rotation.GetRelativeRotationFrom(currentRoot);
}
//Update Posture
transform.position = nextRoot.GetPosition();
transform.rotation = nextRoot.GetRotation();
for (int i = 0; i < Actor.Bones.Length; i++)
{
Actor.Bones[i].Transform.position = Positions[i];
Actor.Bones[i].Transform.rotation = Quaternion.LookRotation(Forwards[i], Ups[i]);
}
}
}
void Update()
{
if (TrajectoryControl)
{
//Update Target Direction / Velocity
TargetDirection = Vector3.Lerp(TargetDirection, Quaternion.AngleAxis(Controller.QueryTurn() * 60f, Vector3.up) * Trajectory.Points[RootPointIndex].GetDirection(), TargetBlending);
TargetVelocity = Vector3.Lerp(TargetVelocity, (Quaternion.LookRotation(TargetDirection, Vector3.up) * Controller.QueryMove()).normalized, TargetBlending);
//Update Bias
Bias = Utility.Interpolate(Bias, PoolBias(), TargetBlending);
//Update Trajectory Correction
TrajectoryCorrection = Utility.Interpolate(TrajectoryCorrection, Mathf.Max(Controller.QueryMove().normalized.magnitude, Mathf.Abs(Controller.QueryTurn())), TargetBlending);
//Update Style
for (int i = 0; i < Controller.Styles.Length; i++)
{
if (i == 0)
{
if (!Controller.QueryAny())
{
Trajectory.Points[RootPointIndex].Styles[i] = Utility.Interpolate(Trajectory.Points[RootPointIndex].Styles[i], 1f, StyleTransition);
}
else
{
Trajectory.Points[RootPointIndex].Styles[i] = Utility.Interpolate(Trajectory.Points[RootPointIndex].Styles[i], Controller.Styles[i].Query() ? 1f : 0f, StyleTransition);
}
}
else
{
Trajectory.Points[RootPointIndex].Styles[i] = Utility.Interpolate(Trajectory.Points[RootPointIndex].Styles[i], Controller.Styles[i].Query() ? 1f : 0f, StyleTransition);
}
}
//Predict Future Trajectory
Vector3[] trajectory_positions_blend = new Vector3[Trajectory.Points.Length];
trajectory_positions_blend[RootPointIndex] = Trajectory.Points[RootPointIndex].GetTransformation().GetPosition();
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
float bias_pos = 0.75f;
float bias_dir = 1.25f;
float scale_pos = (1.0f - Mathf.Pow(1.0f - ((float)(i - RootPointIndex) / (RootPointIndex)), bias_pos));
float scale_dir = (1.0f - Mathf.Pow(1.0f - ((float)(i - RootPointIndex) / (RootPointIndex)), bias_dir));
float scale = 1f / (Trajectory.Points.Length - (RootPointIndex + 1f));
trajectory_positions_blend[i] = trajectory_positions_blend[i - 1] + Vector3.Lerp(
Trajectory.Points[i].GetPosition() - Trajectory.Points[i - 1].GetPosition(),
scale * Bias * TargetVelocity,
scale_pos);
Trajectory.Points[i].SetDirection(Vector3.Lerp(Trajectory.Points[i].GetDirection(), TargetDirection, scale_dir));
Trajectory.Points[i].SetVelocity(Bias * TargetVelocity.magnitude); //Set Desired Smoothed Root Velocities
for (int j = 0; j < Trajectory.Points[i].Styles.Length; j++)
{
Trajectory.Points[i].Styles[j] = Trajectory.Points[RootPointIndex].Styles[j];
}
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Points[i].SetPosition(trajectory_positions_blend[i]);
}
for (int i = RootPointIndex; i < Trajectory.Points.Length; i += PointDensity)
{
Trajectory.Points[i].Postprocess();
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Point prev = GetPreviousSample(i);
Trajectory.Point next = GetNextSample(i);
float factor = (float)(i % PointDensity) / PointDensity;
Trajectory.Points[i].SetPosition(((1f - factor) * prev.GetPosition() + factor * next.GetPosition()));
Trajectory.Points[i].SetDirection(((1f - factor) * prev.GetDirection() + factor * next.GetDirection()));
Trajectory.Points[i].SetLeftsample((1f - factor) * prev.GetLeftSample() + factor * next.GetLeftSample());
Trajectory.Points[i].SetRightSample((1f - factor) * prev.GetRightSample() + factor * next.GetRightSample());
Trajectory.Points[i].SetSlope((1f - factor) * prev.GetSlope() + factor * next.GetSlope());
}
}
if (PFNN.Parameters != null)
{
//Calculate Root
Matrix4x4 currentRoot = Trajectory.Points[RootPointIndex].GetTransformation();
Matrix4x4 previousRoot = Trajectory.Points[RootPointIndex - 1].GetTransformation();
//Input Trajectory Positions / Directions
int start = 0;
for (int i = 0; i < PointSamples; i++)
{
Vector3 pos = GetSample(i).GetPosition().GetRelativePositionTo(currentRoot);
Vector3 dir = GetSample(i).GetDirection().GetRelativeDirectionTo(currentRoot);
PFNN.SetInput(start + i * 6 + 0, pos.x);
//PFNN.SetInput(start + i*6 + 1, pos.y);
PFNN.SetInput(start + i * 6 + 1, 0f);
PFNN.SetInput(start + i * 6 + 2, pos.z);
PFNN.SetInput(start + i * 6 + 3, dir.x);
PFNN.SetInput(start + i * 6 + 4, dir.y);
PFNN.SetInput(start + i * 6 + 5, dir.z);
}
start += 6 * PointSamples;
//Input Trajectory Heights
for (int i = 0; i < PointSamples; i++)
{
//PFNN.SetInput(start + i*2 + 0, GetSample(i).GetLeftSample().y - currentRoot.GetPosition().y);
//PFNN.SetInput(start + i*2 + 1, GetSample(i).GetRightSample().y - currentRoot.GetPosition().y);
PFNN.SetInput(start + i * 2 + 0, 0f);
PFNN.SetInput(start + i * 2 + 1, 0f);
}
start += 2 * PointSamples;
//Input Trajectory Styles
for (int i = 0; i < PointSamples; i++)
{
for (int j = 0; j < GetSample(i).Styles.Length; j++)
{
PFNN.SetInput(start + (i * GetSample(i).Styles.Length) + j, GetSample(i).Styles[j]);
}
}
start += Controller.Styles.Length * PointSamples;
//Input Previous Bone Positions / Velocities
for (int i = 0; i < Joints.Length; i++)
{
Vector3 pos = Positions[i].GetRelativePositionTo(previousRoot);
Vector3 forward = Forwards[i].GetRelativeDirectionTo(previousRoot);
Vector3 up = Ups[i].GetRelativeDirectionTo(previousRoot);
Vector3 vel = Velocities[i].GetRelativeDirectionTo(previousRoot);
PFNN.SetInput(start + i * JointDimIn + 0, pos.x);
PFNN.SetInput(start + i * JointDimIn + 1, pos.y);
PFNN.SetInput(start + i * JointDimIn + 2, pos.z);
PFNN.SetInput(start + i * JointDimIn + 3, forward.x);
PFNN.SetInput(start + i * JointDimIn + 4, forward.y);
PFNN.SetInput(start + i * JointDimIn + 5, forward.z);
PFNN.SetInput(start + i * JointDimIn + 6, up.x);
PFNN.SetInput(start + i * JointDimIn + 7, up.y);
PFNN.SetInput(start + i * JointDimIn + 8, up.z);
PFNN.SetInput(start + i * JointDimIn + 9, vel.x);
PFNN.SetInput(start + i * JointDimIn + 10, vel.y);
PFNN.SetInput(start + i * JointDimIn + 11, vel.z);
}
start += JointDimIn * Joints.Length;
//Predict
PFNN.Predict(Phase);
//Update Past Trajectory
for (int i = 0; i < RootPointIndex; i++)
{
Trajectory.Points[i].SetPosition(Trajectory.Points[i + 1].GetPosition());
Trajectory.Points[i].SetDirection(Trajectory.Points[i + 1].GetDirection());
Trajectory.Points[i].SetLeftsample(Trajectory.Points[i + 1].GetLeftSample());
Trajectory.Points[i].SetRightSample(Trajectory.Points[i + 1].GetRightSample());
Trajectory.Points[i].SetSlope(Trajectory.Points[i + 1].GetSlope());
for (int j = 0; j < Trajectory.Points[i].Styles.Length; j++)
{
Trajectory.Points[i].Styles[j] = Trajectory.Points[i + 1].Styles[j];
}
}
//Update Current Trajectory
int end = 6 * 4 + JointDimOut * Joints.Length;
Vector3 translationalVelocity = new Vector3(PFNN.GetOutput(end + 0), 0f, PFNN.GetOutput(end + 1));
float angularVelocity = PFNN.GetOutput(end + 2);
Trajectory.Points[RootPointIndex].SetPosition((translationalVelocity).GetRelativePositionFrom(currentRoot));
Trajectory.Points[RootPointIndex].SetDirection(Quaternion.AngleAxis(angularVelocity, Vector3.up) * Trajectory.Points[RootPointIndex].GetDirection());
Trajectory.Points[RootPointIndex].Postprocess();
Matrix4x4 nextRoot = Trajectory.Points[RootPointIndex].GetTransformation();
//Update Future Trajectory
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Points[i].SetPosition(Trajectory.Points[i].GetPosition() + (translationalVelocity).GetRelativeDirectionFrom(nextRoot));
}
start = 0;
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
//ROOT 1 2 3 4 5
//.x....x.......x.......x.......x.......x
int index = i;
int prevSampleIndex = GetPreviousSample(index).GetIndex() / PointDensity;
int nextSampleIndex = GetNextSample(index).GetIndex() / PointDensity;
float factor = (float)(i % PointDensity) / PointDensity;
float prevPosX = PFNN.GetOutput(start + (prevSampleIndex - 6) * 4 + 0);
float prevPosZ = PFNN.GetOutput(start + (prevSampleIndex - 6) * 4 + 1);
float prevDirX = PFNN.GetOutput(start + (prevSampleIndex - 6) * 4 + 2);
float prevDirZ = PFNN.GetOutput(start + (prevSampleIndex - 6) * 4 + 3);
float nextPosX = PFNN.GetOutput(start + (nextSampleIndex - 6) * 4 + 0);
float nextPosZ = PFNN.GetOutput(start + (nextSampleIndex - 6) * 4 + 1);
float nextDirX = PFNN.GetOutput(start + (nextSampleIndex - 6) * 4 + 2);
float nextDirZ = PFNN.GetOutput(start + (nextSampleIndex - 6) * 4 + 3);
float posX = (1f - factor) * prevPosX + factor * nextPosX;
float posZ = (1f - factor) * prevPosZ + factor * nextPosZ;
float dirX = (1f - factor) * prevDirX + factor * nextDirX;
float dirZ = (1f - factor) * prevDirZ + factor * nextDirZ;
Trajectory.Points[i].SetPosition(
Utility.Interpolate(
Trajectory.Points[i].GetPosition(),
new Vector3(posX, 0f, posZ).GetRelativePositionFrom(nextRoot),
TrajectoryCorrection
)
);
Trajectory.Points[i].SetDirection(
Utility.Interpolate(
Trajectory.Points[i].GetDirection(),
new Vector3(dirX, 0f, dirZ).normalized.GetRelativeDirectionFrom(nextRoot),
TrajectoryCorrection
)
);
}
start += 6 * 4;
for (int i = RootPointIndex + PointDensity; i < Trajectory.Points.Length; i += PointDensity)
{
Trajectory.Points[i].Postprocess();
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Point prev = GetPreviousSample(i);
Trajectory.Point next = GetNextSample(i);
float factor = (float)(i % PointDensity) / PointDensity;
Trajectory.Points[i].SetPosition(((1f - factor) * prev.GetPosition() + factor * next.GetPosition()));
Trajectory.Points[i].SetDirection(((1f - factor) * prev.GetDirection() + factor * next.GetDirection()));
Trajectory.Points[i].SetLeftsample((1f - factor) * prev.GetLeftSample() + factor * next.GetLeftSample());
Trajectory.Points[i].SetRightSample((1f - factor) * prev.GetRightSample() + factor * next.GetRightSample());
Trajectory.Points[i].SetSlope((1f - factor) * prev.GetSlope() + factor * next.GetSlope());
}
//Compute Posture
for (int i = 0; i < Joints.Length; i++)
{
Vector3 position = new Vector3(PFNN.GetOutput(start + i * JointDimOut + 0), PFNN.GetOutput(start + i * JointDimOut + 1), PFNN.GetOutput(start + i * JointDimOut + 2));
Vector3 forward = new Vector3(PFNN.GetOutput(start + i * JointDimOut + 3), PFNN.GetOutput(start + i * JointDimOut + 4), PFNN.GetOutput(start + i * JointDimOut + 5)).normalized;
Vector3 up = new Vector3(PFNN.GetOutput(start + i * JointDimOut + 6), PFNN.GetOutput(start + i * JointDimOut + 7), PFNN.GetOutput(start + i * JointDimOut + 8)).normalized;
Vector3 velocity = new Vector3(PFNN.GetOutput(start + i * JointDimOut + 9), PFNN.GetOutput(start + i * JointDimOut + 10), PFNN.GetOutput(start + i * JointDimOut + 11));
if (i == 0 || i == 1)
{
position.x = 0f;
position.z = 0f;
velocity.x = 0f;
velocity.z = 0f;
}
if (i == 3)
{
position.x = 0f;
velocity.x = 0f;
}
Positions[i] = Vector3.Lerp(Positions[i].GetRelativePositionTo(currentRoot) + velocity, position, 0.5f).GetRelativePositionFrom(currentRoot);
Forwards[i] = forward.GetRelativeDirectionFrom(currentRoot);
Ups[i] = up.GetRelativeDirectionFrom(currentRoot);
Velocities[i] = velocity.GetRelativeDirectionFrom(currentRoot);
}
start += JointDimOut * Joints.Length;
//Update Posture
Root.position = nextRoot.GetPosition();
Root.rotation = nextRoot.GetRotation();
for (int i = 0; i < Joints.Length; i++)
{
Joints[i].position = Positions[i];
Joints[i].rotation = Quaternion.LookRotation(Forwards[i], Ups[i]);
}
/*
* //Motion Editing
* for(int i=0; i<IKSolvers.Length; i++) {
* IKSolvers[i].UpdateGoal();
* }
*
* Transform spine = Array.Find(Joints, x => x.name == "Spine1");
* Transform neck = Array.Find(Joints, x => x.name == "Neck");
* Transform leftShoulder = Array.Find(Joints, x => x.name == "LeftShoulder");
* Transform rightShoulder = Array.Find(Joints, x => x.name == "RightShoulder");
* Vector3 spinePosition = spine.position;
* Vector3 neckPosition = neck.position;
* Vector3 leftShoulderPosition = leftShoulder.position;
* Vector3 rightShoulderPosition = rightShoulder.position;
* float spineHeight = Utility.GetHeight(spine.position, LayerMask.GetMask("Ground"));
* float neckHeight = Utility.GetHeight(neck.position, LayerMask.GetMask("Ground"));
* float leftShoulderHeight = Utility.GetHeight(leftShoulder.position, LayerMask.GetMask("Ground"));
* float rightShoulderHeight = Utility.GetHeight(rightShoulder.position, LayerMask.GetMask("Ground"));
*
* spine.rotation = Quaternion.Slerp(spine.rotation, Quaternion.FromToRotation(neckPosition - spinePosition, new Vector3(neckPosition.x, neckHeight + (neckPosition.y - Root.position.y), neckPosition.z) - spinePosition) * spine.rotation, 0.5f);
*
* spine.position = new Vector3(spinePosition.x, spineHeight + (spinePosition.y - Root.position.y), spinePosition.z);
* neck.position = new Vector3(neckPosition.x, neckHeight + (neckPosition.y - Root.position.y), neckPosition.z);
* leftShoulder.position = new Vector3(leftShoulderPosition.x, leftShoulderHeight + (leftShoulderPosition.y - Root.position.y), leftShoulderPosition.z);
* rightShoulder.position = new Vector3(rightShoulderPosition.x, rightShoulderHeight + (rightShoulderPosition.y - Root.position.y), rightShoulderPosition.z);
*
* for(int i=0; i<IKSolvers.Length; i++) {
* IKSolvers[i].ProcessIK();
* }
*/
//Update Skeleton
Character.FetchTransformations(Root);
//Update Phase
Phase = Mathf.Repeat(Phase + PFNN.GetOutput(end + 3) * 2f * Mathf.PI, 2f * Mathf.PI);
}
}