private void ProcessFootIK(UltimateIK.Model ik, float contact)
{
ik.Activation = UltimateIK.ACTIVATION.Constant;
for (int i = 0; i < ik.Objectives.Length; i++)
{
ik.Objectives[i].SetTarget(Vector3.Lerp(ik.Objectives[i].TargetPosition, ik.Bones[ik.Objectives[i].Bone].Transform.position, 1f - contact));
ik.Objectives[i].SetTarget(ik.Bones[ik.Objectives[i].Bone].Transform.rotation);
}
ik.Iterations = 25;
ik.Solve();
}
private void ProcessHandIK(UltimateIK.Model ik, float contact)
{
if (Carrier)
{
ik.Activation = UltimateIK.ACTIVATION.Linear;
ik.Objectives.First().SetTarget(Vector3.Lerp(ik.Bones.Last().Transform.position, DribbleSeries.BallTransformations[TimeSeries.Pivot].GetPosition(), contact));
ik.Objectives.First().SetTarget(ik.Bones.Last().Transform.rotation);
ik.Iterations = 50;
ik.Solve();
}
}
private void ProcessFootIK(UltimateIK.Model ik, float contact)
{
ik.Activation = UltimateIK.ACTIVATION.Constant;
ik.Objectives.First().SetTarget(Vector3.Lerp(ik.Objectives[0].TargetPosition, ik.Bones.Last().Transform.position, 1f - contact));
if (Carrier && Controller.QueryLogic("Hold"))
{
ik.Objectives.First().SetTarget(Quaternion.Slerp(ik.Objectives[0].TargetRotation, ik.Bones.Last().Transform.rotation, 1f - contact));
}
else
{
ik.Objectives.First().SetTarget(ik.Bones.Last().Transform.rotation);
}
ik.Iterations = 50;
ik.Solve();
}
public override void Callback(MotionEditor editor)
{
if (EditMotion)
{
float delta = 1f / editor.TargetFramerate;
Actor actor = editor.GetActor();
IK = UltimateIK.BuildModel(IK, actor.Bones[0].Transform, GetObjectives(actor));
if (IK.Objectives.Length == 0)
{
return;
}
IK.Iterations = 50;
IK.Activation = UltimateIK.ACTIVATION.Constant;
IK.RootTranslationY = true;
IK.SetWeights(GetWeights());
bool[] solvePositions = GetSolvePositions();
bool[] solveRotations = GetSolveRotations();
for (int i = 0; i < IK.Objectives.Length; i++)
{
IK.Objectives[i].SolvePosition = solvePositions[i];
IK.Objectives[i].SolveRotation = solveRotations[i];
}
Frame frame = editor.GetCurrentFrame();
Frame relative = (frame.Timestamp - delta) < 0f ? Data.GetFrame(frame.Timestamp + delta) : Data.GetFrame(frame.Timestamp - delta);
actor.WriteTransforms(relative.GetBoneTransformations(editor.Mirror), Data.Source.GetBoneNames());
IK.Solve(GetTargets(relative, editor.Mirror));
Matrix4x4[] relativePosture = actor.GetBoneTransformations();
actor.WriteTransforms(frame.GetBoneTransformations(editor.Mirror), Data.Source.GetBoneNames());
IK.Solve(GetTargets(frame, editor.Mirror));
Matrix4x4[] framePosture = actor.GetBoneTransformations();
for (int i = 0; i < actor.Bones.Length; i++)
{
actor.Bones[i].Velocity = (frame.Timestamp - delta) < 0f ?
(relativePosture[i].GetPosition() - framePosture[i].GetPosition()) / delta:
(framePosture[i].GetPosition() - relativePosture[i].GetPosition()) / delta;
}
}
}
protected override void Setup()
{
Collider = GetComponent <CapsuleCollider>();
Controller = new Controller(PlayerID);
GenerativeModel = GetComponent <GenerativeControl>();
Controller.Logic stand = Controller.AddLogic("Stand", () => Controller.QueryLeftJoystickVector().magnitude < 0.25f);
Controller.Function standControl = Controller.AddFunction("StandControl", (x) => TimeSeries.GetControl((int)x, 0.5f, 0.1f, 1f));
Controller.Function standCorrection = Controller.AddFunction("StandCorrection", (x) => TimeSeries.GetCorrection((int)x, 0.1f, 1f, 0f));
Controller.Logic move = Controller.AddLogic("Move", () => !stand.Query() && !Controller.GetButton(Controller.Button.Y));
Controller.Function moveControl = Controller.AddFunction("MoveControl", (x) => TimeSeries.GetControl((int)x, 0.5f, 0.1f, 1f));
Controller.Function moveCorrection = Controller.AddFunction("MoveCorrection", (x) => TimeSeries.GetCorrection((int)x, 0.1f, 1f, 0f));
Controller.Logic hold = Controller.AddLogic("Hold", () => Controller.GetButton(Controller.Button.B));
Controller.Function holdControl = Controller.AddFunction("HoldControl", (x) => TimeSeries.GetControl((int)x, hold.Query() ? 0.5f : 1f, 0.1f, 1f));
Controller.Function holdCorrection = Controller.AddFunction("HoldCorrection", (x) => TimeSeries.GetCorrection((int)x, hold.Query() ? 0.1f : 0f, 1f, 0f));
Controller.Logic shoot = Controller.AddLogic("Shoot", () => Carrier && Controller.GetButton(Controller.Button.Y));
Controller.Function shootControl = Controller.AddFunction("ShootControl", (x) => TimeSeries.GetControl((int)x, shoot.Query() ? 0.5f : 1f, 0.1f, 1f));
Controller.Function shootCorrection = Controller.AddFunction("ShootCorrection", (x) => TimeSeries.GetCorrection((int)x, shoot.Query() ? 0.1f : 0f, 1f, 0f));
Controller.Logic dribble = Controller.AddLogic("Dribble", () => Carrier && !hold.Query() && !shoot.Query());
Controller.Function dribbleControl = Controller.AddFunction("DribbleControl", (x) => TimeSeries.GetControl((int)x, hold.Query() || shoot.Query() ? 0.5f : 1f, 0.1f, 1f));
Controller.Function dribbleCorrection = Controller.AddFunction("DribbleCorrection", (x) => TimeSeries.GetCorrection((int)x, hold.Query() || shoot.Query() ? 0.1f : 0f, 1f, 0f));
Controller.Logic sprint = Controller.AddLogic("Sprint", () => move.Query() && Controller.QueryLeftJoystickVector().y > 0.25f);
Controller.Logic spin = Controller.AddLogic("Spin", () => move.Query() && Controller.QueryButtonController() != 0f);
Controller.Logic horizontalControl = Controller.AddLogic("HorizontalControl", () =>
!Carrier && hold.Query() ||
Carrier && !spin.Query() && Controller.QueryRightJoystickVector().magnitude > 0.1f
);
Controller.Logic heightControl = Controller.AddLogic("HeightControl", () =>
!Carrier && hold.Query() ||
Carrier && Controller.QueryDPadController().z != 0f ||
Carrier && hold.Query() && horizontalControl.Query()
);
Controller.Logic speedControl = Controller.AddLogic("SpeedControl", () =>
!Carrier && hold.Query() ||
Carrier && dribble.Query() && DribbleSeries.Pivots[TimeSeries.Pivot].y > HeightDribbleThreshold ||
Carrier && dribble.Query() && DribbleSeries.Momentums[TimeSeries.Pivot].y < SpeedDribbleThreshold
);
Controller.Function phaseStability = Controller.AddFunction("PhaseStability", (x) => TimeSeries.GetCorrection((int)x,
1f,
0.9f,
0.1f
));
Controller.Logic rootControl = Controller.AddLogic("RootControl", () => true);
Controller.Function rootPositionControl = Controller.AddFunction("RootPositionControl", (x) => TimeSeries.GetControl((int)x,
rootControl.Query() ? 0.25f : 0f,
0.1f,
1f
));
Controller.Function rootPositionCorrection = Controller.AddFunction("RootPositionCorrection", (x) => TimeSeries.GetCorrection((int)x,
rootControl.Query() ? 0.25f : 1f,
1f,
0f
));
Controller.Function rootRotationControl = Controller.AddFunction("RootRotationControl", (x) => TimeSeries.GetControl((int)x,
rootControl.Query() ? 0.5f : 0f,
0.1f,
1f
));
Controller.Function rootRotationCorrection = Controller.AddFunction("RootRotationCorrection", (x) => TimeSeries.GetCorrection((int)x,
rootControl.Query() ? 0.25f : 1f,
1f,
0f
));
Controller.Function rootVelocityControl = Controller.AddFunction("RootVelocityControl", (x) => TimeSeries.GetControl((int)x,
rootControl.Query() ? 0.75f : 0f,
0.1f,
1f
));
Controller.Function rootVelocityCorrection = Controller.AddFunction("RootVelocityCorrection", (x) => TimeSeries.GetCorrection((int)x,
rootControl.Query() ? 0.25f : 1f,
1f,
0f
));
Controller.Function ballHorizontalControl = Controller.AddFunction("BallHorizontalControl", (x) => TimeSeries.GetControl((int)x,
horizontalControl.Query() ? 0.2f : 0f,
0f,
0.5f
));
Controller.Function ballHorizontalCorrection = Controller.AddFunction("BallHorizontalCorrection", (x) => TimeSeries.GetCorrection(
(int)x, horizontalControl.Query() ? 0.2f : 1f,
0.5f,
0f
));
Controller.Function ballHeightControl = Controller.AddFunction("BallHeightControl", (x) => TimeSeries.GetControl(
(int)x, heightControl.Query() ? 0.1f : 0f,
0f,
0.5f
));
Controller.Function ballHeightCorrection = Controller.AddFunction("BallHeightCorrection", (x) => TimeSeries.GetCorrection(
(int)x, heightControl.Query() ? 0.1f : 1f,
0.5f,
0f
));
Controller.Function ballSpeedControl = Controller.AddFunction("BallSpeedControl", (x) => TimeSeries.GetControl(
(int)x, speedControl.Query() ? 0.1f : 0f,
0f,
0.5f
));
Controller.Function ballSpeedCorrection = Controller.AddFunction("BallSpeedCorrection", (x) => TimeSeries.GetCorrection(
(int)x, speedControl.Query() ? 0.1f : 1f,
0.5f,
0f
));
TimeSeries = new TimeSeries(6, 6, 1f, 1f, 5);
RootSeries = new RootSeries(TimeSeries, transform);
DribbleSeries = new DribbleSeries(TimeSeries, 2.5f, Ball.transform, Actor, RootSeries, null, null);
StyleSeries = new StyleSeries(TimeSeries, new string[] { "Stand", "Move", "Dribble", "Hold", "Shoot" }, new float[] { 1f, 0f, 1f, 0f, 0f });
ContactSeries = new ContactSeries(TimeSeries, "Left Foot", "Right Foot", "Left Hand", "Right Hand", "Ball");
PhaseSeries = new PhaseSeries(TimeSeries, "Left Foot", "Right Foot", "Left Hand", "Right Hand", "Ball");
BodyIK = UltimateIK.BuildModel(Actor.FindTransform("Player 01:Hips"), Actor.GetBoneTransforms("Player 01:LeftFoot", "Player 01:RightFoot", "Player 01:LeftBallAux", "Player 01:RightBallAux"));
LeftFootIK = UltimateIK.BuildModel(Actor.FindTransform("Player 01:LeftUpLeg"), Actor.GetBoneTransforms("Player 01:LeftFoot"));
RightFootIK = UltimateIK.BuildModel(Actor.FindTransform("Player 01:RightUpLeg"), Actor.GetBoneTransforms("Player 01:RightFoot"));
LeftHandIK = UltimateIK.BuildModel(Actor.FindTransform("Player 01:LeftArm"), Actor.GetBoneTransforms("Player 01:LeftBallAux"));
RightHandIK = UltimateIK.BuildModel(Actor.FindTransform("Player 01:RightArm"), Actor.GetBoneTransforms("Player 01:RightBallAux"));
HeadIK = UltimateIK.BuildModel(Actor.FindTransform("Player 01:Neck"), Actor.GetBoneTransforms("Player 01:Head"));
RootSeries.DrawGUI = DrawGUI;
StyleSeries.DrawGUI = DrawGUI;
DribbleSeries.DrawGUI = DrawGUI;
ContactSeries.DrawGUI = DrawGUI;
PhaseSeries.DrawGUI = DrawGUI;
GetComponent <ExpertActivation>().Draw = DrawGUI;
RootSeries.DrawScene = DrawDebug;
StyleSeries.DrawScene = DrawDebug;
DribbleSeries.DrawScene = DrawDebug;
ContactSeries.DrawScene = DrawDebug;
PhaseSeries.DrawScene = DrawDebug;
}
protected override void Setup()
{
Controller = new Controller();
Controller.Signal idle = Controller.AddSignal("Idle");
idle.Default = true;
idle.Velocity = 0f;
idle.AddKey(KeyCode.W, false);
idle.AddKey(KeyCode.A, false);
idle.AddKey(KeyCode.S, false);
idle.AddKey(KeyCode.D, false);
idle.AddKey(KeyCode.Q, false);
idle.AddKey(KeyCode.E, false);
idle.AddKey(KeyCode.V, true);
idle.UserControl = 0.25f;
idle.NetworkControl = 0.1f;
Controller.Signal walk = Controller.AddSignal("Walk");
walk.AddKey(KeyCode.W, true);
walk.AddKey(KeyCode.A, true);
walk.AddKey(KeyCode.S, true);
walk.AddKey(KeyCode.D, true);
walk.AddKey(KeyCode.Q, true);
walk.AddKey(KeyCode.E, true);
walk.AddKey(KeyCode.LeftShift, false);
walk.AddKey(KeyCode.C, false);
walk.Velocity = 1f;
walk.UserControl = 0.25f;
walk.NetworkControl = 0.25f;
Controller.Signal run = Controller.AddSignal("Run");
run.AddKey(KeyCode.LeftShift, true);
run.Velocity = 3f;
run.UserControl = 0.25f;
run.NetworkControl = 0.25f;
Controller.Signal carry = Controller.AddSignal("Carry");
carry.AddKey(KeyCode.V, true);
carry.Velocity = 0f;
carry.UserControl = 0.1f;
carry.NetworkControl = 0f;
Controller.Signal open = Controller.AddSignal("Open");
open.AddKey(KeyCode.F, true);
open.Velocity = 0f;
open.UserControl = 0.1f;
open.NetworkControl = 0f;
Controller.Signal sit = Controller.AddSignal("Sit");
sit.AddKey(KeyCode.C, true);
sit.Velocity = 0f;
sit.UserControl = 0.25f;
sit.NetworkControl = 0f;
Environment = new CylinderMap(4f, 9, 9, true);
Geometry = new CuboidMap(new Vector3Int(8, 8, 8));
TimeSeries = new TimeSeries(6, 6, 1f, 1f, 5);
RootSeries = new TimeSeries.Root(TimeSeries);
StyleSeries = new TimeSeries.Style(TimeSeries, "Idle", "Walk", "Run", "Carry", "Open", "Sit", "Climb");
GoalSeries = new TimeSeries.Goal(TimeSeries, Controller.GetSignalNames());
ContactSeries = new TimeSeries.Contact(TimeSeries, "Hips", "RightWrist", "LeftWrist", "RightAnkle", "LeftAnkle");
PhaseSeries = new TimeSeries.Phase(TimeSeries);
for (int i = 0; i < TimeSeries.Samples.Length; i++)
{
RootSeries.Transformations[i] = transform.GetWorldMatrix(true);
if (StyleSeries.Styles.Length > 0)
{
StyleSeries.Values[i][0] = 1f;
}
if (GoalSeries.Actions.Length > 0)
{
GoalSeries.Values[i][0] = 1f;
}
GoalSeries.Transformations[i] = transform.GetWorldMatrix(true);
PhaseSeries.Values[i] = Mathf.Repeat((float)i / GetFramerate(), 1f);
Geometry.Pivot = transform.GetWorldMatrix(true);
Geometry.References[i] = transform.position;
}
PosePrediction = new Vector3[Actor.Bones.Length];
RootPrediction = new Matrix4x4[7];
GoalPrediction = new Matrix4x4[7];
RightFootIK = UltimateIK.BuildModel(Actor.FindTransform("RightHip"), Actor.GetBoneTransforms(ContactSeries.Bones[3]));
LeftFootIK = UltimateIK.BuildModel(Actor.FindTransform("LeftHip"), Actor.GetBoneTransforms(ContactSeries.Bones[4]));
}
protected override void Setup()
{
Collider = GetComponent <CapsuleCollider>();
Controller = new Controller(1);
Controller.Logic idle = Controller.AddLogic("Idle", () => Controller.QueryLeftJoystickVector().magnitude < 0.1f);
Controller.Function idleControl = Controller.AddFunction("IdleControl", (x) => TimeSeries.GetControl((int)x, ActionBias, 0.1f, ControlStrength));
Controller.Function idleCorrection = Controller.AddFunction("IdleCorrection", (x) => TimeSeries.GetCorrection((int)x, CorrectionBias, CorrectionStrength, 0f));
Controller.Logic move = Controller.AddLogic("Move", () => !idle.Query());
Controller.Function moveControl = Controller.AddFunction("MoveControl", (x) => TimeSeries.GetControl((int)x, ActionBias, 0.1f, ControlStrength));
Controller.Function moveCorrection = Controller.AddFunction("MoveCorrection", (x) => TimeSeries.GetCorrection((int)x, CorrectionBias, CorrectionStrength, 0f));
Controller.Logic speed = Controller.AddLogic("Speed", () => true);
Controller.Function speedControl = Controller.AddFunction("SpeedControl", (x) => TimeSeries.GetControl((int)x, ActionBias, 0.1f, ControlStrength));
Controller.Function speedCorrection = Controller.AddFunction("SpeedCorrection", (x) => TimeSeries.GetCorrection((int)x, CorrectionBias, CorrectionStrength, 0f));
Controller.Logic sprint = Controller.AddLogic("Sprint", () => move.Query() && Controller.QueryLeftJoystickVector().y > 0.25f);
Controller.Function rootPositionControl = Controller.AddFunction("RootPositionControl", (x) => TimeSeries.GetControl((int)x,
PositionBias,
0.1f,
ControlStrength
));
Controller.Function rootPositionCorrection = Controller.AddFunction("RootPositionCorrection", (x) => TimeSeries.GetCorrection((int)x,
CorrectionBias,
CorrectionStrength,
0f
));
Controller.Function rootRotationControl = Controller.AddFunction("RootRotationControl", (x) => TimeSeries.GetControl((int)x,
RotationBias,
0.1f,
ControlStrength
));
Controller.Function rootRotationCorrection = Controller.AddFunction("RootRotationCorrection", (x) => TimeSeries.GetCorrection((int)x,
CorrectionBias,
CorrectionStrength,
0f
));
Controller.Function rootVelocityControl = Controller.AddFunction("RootVelocityControl", (x) => TimeSeries.GetControl((int)x,
VelocityBias,
0.1f,
ControlStrength
));
Controller.Function rootVelocityCorrection = Controller.AddFunction("RootVelocityCorrection", (x) => TimeSeries.GetCorrection((int)x,
CorrectionBias,
CorrectionStrength,
0f
));
Controller.Function phaseStability = Controller.AddFunction("PhaseStability", (x) => TimeSeries.GetCorrection((int)x,
2f,
1f,
0.5f
));
TimeSeries = new TimeSeries(6, 6, 1f, 1f, 5);
RootSeries = new RootSeries(TimeSeries, transform);
StyleSeries = new StyleSeries(TimeSeries, new string[] { "Idle", "Move", "Speed" }, new float[] { 1f, 0f, 0f });
ContactSeries = new ContactSeries(TimeSeries, "Left Hand", "Right Hand", "Left Foot", "Right Foot");
PhaseSeries = new PhaseSeries(TimeSeries, "Left Hand", "Right Hand", "Left Foot", "Right Foot");
LeftHandIK = UltimateIK.BuildModel(Actor.FindTransform("LeftForeArm"), Actor.GetBoneTransforms("LeftHandSite"));
RightHandIK = UltimateIK.BuildModel(Actor.FindTransform("RightForeArm"), Actor.GetBoneTransforms("RightHandSite"));
LeftFootIK = UltimateIK.BuildModel(Actor.FindTransform("LeftLeg"), Actor.GetBoneTransforms("LeftFootSite"));
RightFootIK = UltimateIK.BuildModel(Actor.FindTransform("RightLeg"), Actor.GetBoneTransforms("RightFootSite"));
RootSeries.DrawGUI = DrawGUI;
StyleSeries.DrawGUI = DrawGUI;
ContactSeries.DrawGUI = DrawGUI;
PhaseSeries.DrawGUI = DrawGUI;
GetComponent <ExpertActivation>().Draw = DrawGUI;
RootSeries.DrawScene = DrawDebug;
StyleSeries.DrawScene = DrawDebug;
ContactSeries.DrawScene = DrawDebug;
PhaseSeries.DrawScene = DrawDebug;
}
