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);
}
}
}
