void OnRenderObject()
{
if (Root == null)
{
Root = transform;
}
/*
* UnityGL.Start();
* UnityGL.DrawGUICircle(0.5f, 0.85f, 0.075f, Utility.Black.Transparent(0.5f));
* Quaternion rotation = Quaternion.AngleAxis(-360f * Phase / (2f * Mathf.PI), Vector3.forward);
* Vector2 a = rotation * new Vector2(-0.005f, 0f);
* Vector2 b = rotation *new Vector3(0.005f, 0f);
* Vector3 c = rotation * new Vector3(0f, 0.075f);
* UnityGL.DrawGUITriangle(0.5f + a.x/Screen.width*Screen.height, 0.85f + a.y, 0.5f + b.x/Screen.width*Screen.height, 0.85f + b.y, 0.5f + c.x/Screen.width*Screen.height, 0.85f + c.y, Utility.Cyan);
* UnityGL.Finish();
*/
if (ShowTrajectory)
{
if (Application.isPlaying)
{
UltiDraw.Begin();
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetDirection, 0.05f, 0f, UltiDraw.Red.Transparent(0.75f));
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetVelocity, 0.05f, 0f, UltiDraw.Green.Transparent(0.75f));
UltiDraw.End();
Trajectory.Draw(10);
}
}
if (!Application.isPlaying)
{
Character.FetchTransformations(Root);
}
Character.Draw();
if (ShowVelocities)
{
if (Application.isPlaying)
{
UltiDraw.Begin();
for (int i = 0; i < Joints.Length; i++)
{
Character.Segment segment = Character.FindSegment(Joints[i].name);
if (segment != null)
{
UltiDraw.DrawArrow(
Joints[i].position,
Joints[i].position + Velocities[i] * 60f,
0.75f,
0.0075f,
0.05f,
UltiDraw.Cyan.Transparent(0.5f)
);
}
}
UltiDraw.End();
}
}
}
void OnRenderObject() {
if(Application.isPlaying) {
if(NN.Parameters == null) {
return;
}
if(ShowTrajectory) {
UltiDraw.Begin();
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetDirection, 0.05f, 0f, UltiDraw.Red.Transparent(0.75f));
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetVelocity, 0.05f, 0f, UltiDraw.Green.Transparent(0.75f));
UltiDraw.End();
Trajectory.Draw(10);
}
if(ShowVelocities) {
UltiDraw.Begin();
for(int i=0; i<Actor.Bones.Length; i++) {
UltiDraw.DrawArrow(
Actor.Bones[i].Transform.position,
Actor.Bones[i].Transform.position + Velocities[i],
0.75f,
0.0075f,
0.05f,
UltiDraw.Purple.Transparent(0.5f)
);
}
UltiDraw.End();
}
UltiDraw.Begin();
UltiDraw.DrawGUIHorizontalBar(new Vector2(0.5f, 0.74f), new Vector2(0.25f, 0.025f), UltiDraw.DarkGrey.Transparent(0.5f), 0.0025f, UltiDraw.Black, Trajectory.Points[RootPointIndex].GetVelocity().magnitude / 4f, UltiDraw.DarkGreen);
UltiDraw.End();
}
}
void OnRenderObject()
{
UltiDraw.Begin();
UltiDraw.DrawArrow(transform.position, parentJoint.position, 0.75f,
0.0075f,
0.05f,
UltiDraw.Purple.Transparent(0.5f));
UltiDraw.End();
}
public void Draw(Color boneColor, Color jointColor, float alpha)
{
UltiDraw.Begin();
if (DrawSkeleton)
{
Action <Segment, Segment> recursion = null;
recursion = new Action <Segment, Segment>((segment, parent) => {
if (segment == null)
{
return;
}
if (parent != null)
{
UltiDraw.DrawSphere(
parent.GetTransformation().GetPosition(),
5f / 8f * BoneSize,
jointColor.Transparent(alpha)
);
float distance = Vector3.Distance(parent.GetTransformation().GetPosition(), segment.GetTransformation().GetPosition());
if (distance > 0.05f)
{
UltiDraw.DrawBone(
parent.GetTransformation().GetPosition(),
Quaternion.FromToRotation(parent.GetTransformation().GetForward(), segment.GetTransformation().GetPosition() - parent.GetTransformation().GetPosition()) * parent.GetTransformation().GetRotation(),
4f * BoneSize, distance,
boneColor.Transparent(alpha)
);
}
}
parent = segment;
for (int i = 0; i < segment.GetChildCount(); i++)
{
recursion(segment.GetChild(Hierarchy, i), parent);
}
});
recursion(GetRoot(), null);
}
if (DrawTransforms)
{
Action <Segment> recursion = null;
recursion = new Action <Segment>((segment) => {
UltiDraw.DrawArrow(segment.GetTransformation().GetPosition(), segment.GetTransformation().GetPosition() + 0.05f * (segment.GetTransformation().GetRotation() * Vector3.forward), 0.75f, 0.005f, 0.025f, Color.blue);
UltiDraw.DrawArrow(segment.GetTransformation().GetPosition(), segment.GetTransformation().GetPosition() + 0.05f * (segment.GetTransformation().GetRotation() * Vector3.up), 0.75f, 0.005f, 0.025f, Color.green);
UltiDraw.DrawArrow(segment.GetTransformation().GetPosition(), segment.GetTransformation().GetPosition() + 0.05f * (segment.GetTransformation().GetRotation() * Vector3.right), 0.75f, 0.005f, 0.025f, Color.red);
//UltiDraw.DrawTranslateGizmo(segment.GetTransformation().GetPosition(), segment.GetTransformation().GetRotation(), 0.075f);
for (int i = 0; i < segment.GetChildCount(); i++)
{
recursion(segment.GetChild(Hierarchy, i));
}
});
recursion(GetRoot());
}
UltiDraw.End();
}
void OnDrawGizmos()
{
if (Visualise)
{
UltiDraw.Begin();
UltiDraw.DrawSphere(transform.position, Quaternion.identity, 0.25f, UltiDraw.Cyan.Transparent(0.5f));
UltiDraw.DrawArrow(GetPivotPosition(), GetPivotPosition() + 0.25f * (transform.rotation), 0.8f, 0.02f, 0.1f, UltiDraw.Cyan.Transparent(0.5f));
UltiDraw.End();
}
}
void OnDrawGizmos() // visualise the joint location
{
if (Visualise)
{
UltiDraw.Begin();
UltiDraw.DrawSphere(transform.position, Quaternion.identity, 0.25f, UltiDraw.Purple.Transparent(0.5f));
UltiDraw.DrawArrow(transform.position, transform.position + (directionToCheck.normalized * distanceToCheck), 0.8f, 0.02f, 0.1f, UltiDraw.Cyan.Transparent(0.5f));
UltiDraw.End();
}
}
void OnDrawGizmos() // visualise the joint location
{
if (Visualise)
{
UltiDraw.Begin();
UltiDraw.DrawSphere(transform.position, Quaternion.identity, 0.25f, UltiDraw.Purple.Transparent(0.5f));
UltiDraw.DrawArrow(transform.position, transform.position + 0.25f * (transform.rotation * Axis), 0.8f, 0.02f, 0.1f, UltiDraw.Cyan.Transparent(0.5f));
UltiDraw.End();
}
}
void OnDrawGizmos()
{
if (Ankle == null || Normal == Vector3.zero)
{
return;
}
UltiDraw.Begin();
UltiDraw.DrawSphere(GetPivotPosition(), Quaternion.identity, 0.025f, UltiDraw.Cyan.Transparent(0.5f));
UltiDraw.DrawArrow(GetPivotPosition(), GetPivotPosition() + 0.25f * (GetPivotRotation() * Normal), 0.75f, 0.025f, 0.1f, UltiDraw.Cyan.Transparent(0.5f));
UltiDraw.DrawSphere(GetPivotPosition(), Quaternion.identity, Radius, UltiDraw.Red.Transparent(0.5f));
UltiDraw.End();
}
public void Draw()
{
UltiDraw.Begin();
for (int i = 0; i < Keypoints.Count; i++)
{
UltiDraw.DrawSphere(Keypoints[i], Quaternion.identity, 0.025f, UltiDraw.Red);
}
for (int i = 0; i < Actor.Bones.Length; i++)
{
UltiDraw.DrawWireSphere(Actor.Bones[i].Transform.position, Actor.Bones[i].Transform.rotation, 2f * GetRadius(i), UltiDraw.Black.Transparent(0.05f));
UltiDraw.DrawArrow(Positions[i], Positions[i] + Gradients[i], 0.8f, 0.005f, 0.015f, UltiDraw.Cyan.Transparent(0.5f));
}
UltiDraw.End();
}
void OnRenderObject()
{
if (Application.isPlaying)
{
if (NN.Parameters == null)
{
return;
}
if (ShowTrajectory)
{
UltiDraw.Begin();
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetDirection, 0.05f, 0f, UltiDraw.Red.Transparent(0.75f));
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetVelocity, 0.05f, 0f, UltiDraw.Green.Transparent(0.75f));
UltiDraw.End();
Trajectory.Draw(10);
}
if (ShowVelocities)
{
UltiDraw.Begin();
for (int i = 0; i < Actor.Bones.Length; i++)
{
UltiDraw.DrawArrow(
Actor.Bones[i].Transform.position,
Actor.Bones[i].Transform.position + Velocities[i],
0.75f,
0.0075f,
0.05f,
UltiDraw.Purple.Transparent(0.5f)
);
}
UltiDraw.End();
}
UltiDraw.Begin();
Color[] colors = UltiDraw.GetRainbowColors(Controller.Styles.Length);
float phase = GetPhase();
for (int i = 0; i < Controller.Styles.Length; i++)
{
float x = (float)i / (float)(Controller.Styles.Length - 1);
x = Utility.Normalise(x, 0f, 1f, 0.3f, 0.7f);
float y = 0.85f;
UltiDraw.DrawGUICircularPivot(new Vector2(x, y), 0.04f, UltiDraw.DarkGrey, phase * 360f, GetSample(6).Styles[i], colors[i]);
}
UltiDraw.End();
//HeightMap.Draw();
}
}
public void Draw()
{
if (Data == null)
{
return;
}
MotionData.Frame frame = GetCurrentFrame();
if (ShowMotion)
{
for (int i = 0; i < 6; i++)
{
MotionData.Frame previous = Data.GetFrame(Mathf.Clamp(frame.Timestamp - 1f + (float)i / 6f, 0f, Data.GetTotalTime()));
Actor.DrawSimple(Color.Lerp(UltiDraw.Blue, UltiDraw.Cyan, 1f - (float)(i + 1) / 6f).Transparent(0.75f), previous.GetBoneTransformations(ShowMirrored));
}
for (int i = 1; i <= 5; i++)
{
MotionData.Frame future = Data.GetFrame(Mathf.Clamp(frame.Timestamp + (float)i / 5f, 0f, Data.GetTotalTime()));
Actor.DrawSimple(Color.Lerp(UltiDraw.Red, UltiDraw.Orange, (float)(i + 1) / 5f).Transparent(0.75f), future.GetBoneTransformations(ShowMirrored));
}
}
if (ShowVelocities)
{
UltiDraw.Begin();
for (int i = 0; i < Actor.Bones.Length; i++)
{
UltiDraw.DrawArrow(
Actor.Bones[i].Transform.position,
Actor.Bones[i].Transform.position + frame.GetBoneVelocity(i, ShowMirrored),
0.75f,
0.0075f,
0.05f,
UltiDraw.Purple.Transparent(0.5f)
);
}
UltiDraw.End();
}
if (ShowTrajectory)
{
frame.GetTrajectory(ShowMirrored).Draw();
}
frame.GetHeightMap(ShowMirrored).Draw();
frame.GetDepthMap(ShowMirrored).Draw();
}
void OnRenderObject()
{
if (Root == null)
{
Root = transform;
}
if (ShowTrajectory)
{
if (Application.isPlaying)
{
UltiDraw.Begin();
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetDirection, 0.05f, 0f, UltiDraw.Red.Transparent(0.75f));
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetVelocity, 0.05f, 0f, UltiDraw.Green.Transparent(0.75f));
UltiDraw.End();
Trajectory.Draw(10);
}
}
if (!Application.isPlaying)
{
Character.FetchTransformations(Root);
}
Character.Draw();
if (ShowVelocities)
{
if (Application.isPlaying)
{
UltiDraw.Begin();
for (int i = 0; i < Joints.Length; i++)
{
Character.Segment segment = Character.FindSegment(Joints[i].name);
if (segment != null)
{
UltiDraw.DrawArrow(
Joints[i].position,
Joints[i].position + Velocities[i] * 60f,
0.75f,
0.0075f,
0.05f,
UltiDraw.Purple.Transparent(0.5f)
);
}
}
UltiDraw.End();
}
}
}
public override void Draw(MotionEditor editor)
{
Frame frame = editor.GetCurrentFrame();
UltiDraw.Begin();
for (int i = 0; i < Functions.Length; i++)
{
Matrix4x4 matrix = Functions[i].GetPivotTransformation(frame, editor.Mirror);
Vector3 position = matrix.GetPosition();
Quaternion rotation = matrix.GetRotation();
UltiDraw.DrawSphere(position, Quaternion.identity, 0.025f, UltiDraw.Cyan.Transparent(0.5f));
UltiDraw.DrawArrow(position, position + 0.25f * (rotation * Functions[i].Normal.normalized), 0.8f, 0.02f, 0.1f, UltiDraw.Cyan.Transparent(0.5f));
UltiDraw.DrawSphere(position, Quaternion.identity, Functions[i].DistanceThreshold, UltiDraw.Mustard.Transparent(0.5f));
}
UltiDraw.End();
}
void OnRenderObject()
{
/*
* UltiDraw.Begin();
* UltiDraw.DrawGUICircle(new Vector2(0.5f, 0.85f), 0.075f, UltiDraw.Black.Transparent(0.5f));
* Quaternion rotation = Quaternion.AngleAxis(-360f * NN.GetPhase() / (2f * Mathf.PI), Vector3.forward);
* Vector2 a = rotation * new Vector2(-0.005f, 0f);
* Vector2 b = rotation *new Vector3(0.005f, 0f);
* Vector3 c = rotation * new Vector3(0f, 0.075f);
* UltiDraw.DrawGUITriangle(new Vector2(0.5f + b.x/Screen.width*Screen.height, 0.85f + b.y), new Vector2(0.5f + a.x/Screen.width*Screen.height, 0.85f + a.y), new Vector2(0.5f + c.x/Screen.width*Screen.height, 0.85f + c.y), UltiDraw.Cyan);
* UltiDraw.End();
*/
if (Application.isPlaying)
{
if (NN.Parameters == null)
{
return;
}
UltiDraw.Begin();
// 红色是目标面朝方向
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetDirection, 0.05f, 0f, UltiDraw.Red.Transparent(0.75f));
// 绿色是目标移动方向
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetVelocity, 0.05f, 0f, UltiDraw.Green.Transparent(0.75f));
UltiDraw.End();
// 画地面轨迹
Trajectory.Draw(10);
UltiDraw.Begin();
for (int i = 0; i < Actor.Bones.Length; i++)
{
// 紫色是画 骨骼速度
UltiDraw.DrawArrow(
Actor.Bones[i].Transform.position,
Actor.Bones[i].Transform.position + Velocities[i],
0.75f,
0.0075f,
0.05f,
UltiDraw.Purple.Transparent(0.5f)
);
}
UltiDraw.End();
}
}
void OnRenderObject()
{
return;;
if (Ankle == null || Normal == Vector3.zero)
{
return;
}
if (!Application.isPlaying)
{
ComputeNormal();
}
UltiDraw.Begin();
UltiDraw.DrawSphere(GetPivotPosition(), Quaternion.identity, 0.025f, UltiDraw.Cyan.Transparent(0.5f));
UltiDraw.DrawArrow(GetPivotPosition(), GetPivotPosition() + 0.25f * (GetPivotRotation() * Normal.normalized), 0.8f, 0.02f, 0.1f, UltiDraw.Cyan.Transparent(0.5f));
UltiDraw.DrawSphere(GetPivotPosition(), Quaternion.identity, Radius, UltiDraw.Mustard.Transparent(0.5f));
UltiDraw.End();
}
void OnDrawGizmos()
{
if (Visualise)
{
if (Ankle == null || Joint == null || Normal == Vector3.zero)
{
return;
}
if (!Application.isPlaying)
{
ComputeNormal();
}
UltiDraw.Begin();
UltiDraw.DrawSphere(GetPivotPosition(), Quaternion.identity, 0.025f, UltiDraw.Cyan.Transparent(0.5f));
UltiDraw.DrawArrow(GetPivotPosition(), GetPivotPosition() + 0.25f * (GetPivotRotation() * Normal.normalized), 0.8f, 0.02f, 0.1f, UltiDraw.Cyan.Transparent(0.5f));
UltiDraw.End();
}
}
public void Draw()
{
if (GetCurrentFile() == null)
{
return;
}
//if(ShowMotion) {
// for(int i=0; i<GetState().PastBoneTransformations.Count; i++) {
// GetActor().DrawSimple(Color.Lerp(UltiDraw.Blue, UltiDraw.Cyan, 1f - (float)(i+1)/6f).Transparent(0.75f), GetState().PastBoneTransformations[i]);
// }
// for(int i=0; i<GetState().FutureBoneTransformations.Count; i++) {
// GetActor().DrawSimple(Color.Lerp(UltiDraw.Red, UltiDraw.Orange, (float)i/5f).Transparent(0.75f), GetState().FutureBoneTransformations[i]);
// }
//}
if (Velocities)
{
UltiDraw.Begin();
Vector3[] velocities = GetCurrentFrame().GetBoneVelocities(Mirror);
for (int i = 0; i < velocities.Length; i++)
{
UltiDraw.DrawArrow(
GetActor().Bones[i].Transform.position,
GetActor().Bones[i].Transform.position + velocities[i],
0.75f,
0.0075f,
0.05f,
UltiDraw.Purple.Transparent(0.5f)
);
}
UltiDraw.End();
}
if (Trajectory)
{
GetCurrentFrame().GetTrajectory(Mirror).Draw();
}
for (int i = 0; i < GetCurrentFile().Data.Modules.Length; i++)
{
GetCurrentFile().Data.Modules[i].Draw(this);
}
}
void OnRenderObject()
{
if (Application.isPlaying)
{
if (NN.Parameters == null)
{
return;
}
if (ShowTrajectory)
{
UltiDraw.Begin();
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetDirection, 0.05f, 0f, UltiDraw.Red.Transparent(0.75f));
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetVelocity, 0.05f, 0f, UltiDraw.Green.Transparent(0.75f));
UltiDraw.End();
Trajectory.Draw(10);
}
if (ShowVelocities)
{
UltiDraw.Begin();
for (int i = 0; i < Actor.Bones.Length; i++)
{
UltiDraw.DrawArrow(
Actor.Bones[i].Transform.position,
Actor.Bones[i].Transform.position + Velocities[i],
0.75f,
0.0075f,
0.05f,
UltiDraw.Purple.Transparent(0.5f)
);
}
UltiDraw.End();
}
HeightMap.Draw();
}
}
public void Draw()
{
if (ShowMotion)
{
for (int i = 0; i < GetState().PastBoneTransformations.Count; i++)
{
GetActor().DrawSimple(Color.Lerp(UltiDraw.Blue, UltiDraw.Cyan, 1f - (float)(i + 1) / 6f).Transparent(0.75f), GetState().PastBoneTransformations[i]);
}
for (int i = 0; i < GetState().FutureBoneTransformations.Count; i++)
{
GetActor().DrawSimple(Color.Lerp(UltiDraw.Red, UltiDraw.Orange, (float)i / 5f).Transparent(0.75f), GetState().FutureBoneTransformations[i]);
}
}
if (ShowVelocities)
{
UltiDraw.Begin();
for (int i = 0; i < GetActor().Bones.Length; i++)
{
UltiDraw.DrawArrow(
GetActor().Bones[i].Transform.position,
GetActor().Bones[i].Transform.position + GetState().BoneVelocities[i],
0.75f,
0.0075f,
0.05f,
UltiDraw.Purple.Transparent(0.5f)
);
}
UltiDraw.End();
}
if (ShowTrajectory)
{
GetState().Trajectory.Draw();
}
if (ShowHeightMap)
{
GetState().HeightMap.Draw();
}
if (ShowDepthMap)
{
GetState().DepthMap.Draw();
}
UltiDraw.Begin();
UltiDraw.DrawGUIRectangle(Vector2.one / 2f, Vector2.one, UltiDraw.Mustard);
UltiDraw.End();
if (ShowDepthImage)
{
UltiDraw.Begin();
Vector2 size = new Vector2(0.5f, 0.5f * Screen.width / Screen.height);
for (int x = 0; x < GetState().DepthMap.GetResolution(); x++)
{
for (int y = 0; y < GetState().DepthMap.GetResolution(); y++)
{
float distance = Vector3.Distance(GetState().DepthMap.Points[GetState().DepthMap.GridToArray(x, y)], GetState().DepthMap.Pivot.GetPosition());
float intensity = 1f - distance / GetState().DepthMap.GetDistance();
UltiDraw.DrawGUIRectangle(Vector2.one / 2f - size / 2f + new Vector2((float)x * size.x, (float)y * size.y) / (GetState().DepthMap.GetResolution() - 1), size / (GetState().DepthMap.GetResolution() - 1), Color.Lerp(Color.black, Color.white, intensity));
}
}
UltiDraw.End();
}
}
public void Draw(int step = 1)
{
UltiDraw.Begin();
Color[] colors = UltiDraw.GetRainbowColors(Styles.Length);
//Connections，黑线连接评估点，这些点以step=10为间隔就画一个，总共12个，历史6个，当前1个，预测5个
for (int i = 0; i < Points.Length - step; i += step)
{
UltiDraw.DrawLine(Points[i].GetPosition(), Points[i + step].GetPosition(), 0.01f, UltiDraw.Black);
}
//Velocities
for (int i = 0; i < Points.Length; i += step)
{
//Vector3 start = Points[i].GetPosition();
//Vector3 end = Points[i].GetPosition() + Points[i].GetVelocity();
//end = Utility.ProjectGround(end, LayerMask.GetMask("Ground"));
//UltiDraw.DrawLine(start, end, 0.025f, 0f, UltiDraw.DarkGreen.Transparent(0.5f));
/*
* float r = 0f;
* float g = 0f;
* float b = 0f;
* for(int j=0; j<Points[i].Styles.Length; j++) {
* r += Points[i].Styles[j] * colors[j].r;
* g += Points[i].Styles[j] * colors[j].g;
* b += Points[i].Styles[j] * colors[j].b;
* }
* UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].GetVelocity(), 0.025f, 0f, new Color(r, g, b, 0.5f));
*/
//UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].GetVelocity(), 0.025f, 0f, UltiDraw.DarkGreen.Transparent(0.5f));
}
//Directions，黄色线画个间隔点的方向
for (int i = 0; i < Points.Length; i += step)
{
//Vector3 start = Points[i].GetPosition();
//Vector3 end = Points[i].GetPosition() + 0.25f * Points[i].GetDirection();
//end = Utility.ProjectGround(end, LayerMask.GetMask("Ground"));
//UltiDraw.DrawLine(start, end, 0.025f, 0f, UltiDraw.Orange.Transparent(0.75f));
UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + 0.25f * Points[i].GetDirection(), 0.025f, 0f, UltiDraw.Orange.Transparent(0.75f));
}
//Styles，方块的颜色是什么信息呢？
if (Styles.Length > 0)
{
for (int i = 0; i < Points.Length; i += step)
{
float r = 0f;
float g = 0f;
float b = 0f;
for (int j = 0; j < Points[i].Styles.Length; j++)
{
r += Points[i].Styles[j] * colors[j].r;
g += Points[i].Styles[j] * colors[j].g;
b += Points[i].Styles[j] * colors[j].b;
}
Color color = new Color(r, g, b, 1f);
UltiDraw.DrawCube(Points[i].GetPosition(), Points[i].GetRotation(), 0.05f, color);
}
}
//Signals
/*
* if(Styles.Length > 0) {
* for(int i=0; i<Points.Length; i+=step) {
* Color color = UltiDraw.Black;
* for(int j=0; j<Points[i].Signals.Length; j++) {
* if(Points[i].Signals[j]) {
* color = colors[j];
* break;
* }
* }
* UltiDraw.DrawCone(Points[i].GetPosition(), Quaternion.identity, 0.1f, 0.1f, color);
* }
* }
*/
/*
* //Speed
* for(int i=0; i<Points.Length; i+=step) {
* float r = 0f;
* float g = 0f;
* float b = 0f;
* for(int j=0; j<Points[i].Styles.Length; j++) {
* r += Points[i].Styles[j] * colors[j].r;
* g += Points[i].Styles[j] * colors[j].g;
* b += Points[i].Styles[j] * colors[j].b;
* }
* UltiDraw.DrawArrow(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].GetSpeed() * Points[i].GetTransformation().GetForward(), 0.8f, 0.02f, 0.04f, new Color(r, g, b, 0.5f));
* }
*/
//Projections
//for(int i=0; i<Points.Length; i+=step) {
// Vector3 right = Points[i].GetRightSample();
// Vector3 left = Points[i].GetLeftSample();
// UltiDraw.DrawCircle(right, 0.01f, UltiDraw.Yellow);
// UltiDraw.DrawCircle(left, 0.01f, UltiDraw.Yellow);
//}
//Slopes
//for(int i=0; i<Points.Length; i+=step) {
// UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + 1f * Points[i].GetSlope() * Vector3.up, 0.025f, 0f, UltiDraw.Blue.Transparent(0.75f));
//}
//Positions，间隔点再画上黑圈
for (int i = 0; i < Points.Length; i += step)
{
UltiDraw.DrawCircle(Points[i].GetPosition(), 0.025f, UltiDraw.Black);
}
//Phase，周期信息是怎么画的呢，为什么demo上看不到？
for (int i = 0; i < Points.Length; i += step)
{
//UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].Phase*Vector3.up, UltiDraw.IndianRed);
UltiDraw.DrawArrow(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].Phase * Vector3.up, 0.8f, 0.025f, 0.05f, UltiDraw.IndianRed.Transparent(0.5f));
//UltiDraw.DrawSphere(Points[i].GetPosition(), Quaternion.identity, Points[i].PhaseUpdate / 10f, UltiDraw.Purple.Transparent(0.25f));
}
/*
* List<float[]> signal = new List<float[]>();
* for(int i=0; i<Styles.Length; i++) {
* float[] s = new float[Points.Length];
* for(int j=0; j<Points.Length; j++) {
* s[j] = Points[j].Signals[i];
* }
* signal.Add(s);
* }
* List<float[]> signalInput = new List<float[]>();
* for(int i=0; i<Styles.Length; i++) {
* float[] s = new float[Points.Length];
* for(int j=0; j<Points.Length; j++) {
* s[j] = Points[j].Signals[i] - Points[j].Styles[i];
* }
* signalInput.Add(s);
* }
* List<float[]> stateInput = new List<float[]>();
* for(int i=0; i<Styles.Length; i++) {
* float[] s = new float[Points.Length];
* for(int j=0; j<Points.Length; j++) {
* s[j] = Points[j].Styles[i];
* }
* stateInput.Add(s);
* }
* UltiDraw.DrawGUIFunctions(new Vector2(0.5f, 0.4f), new Vector2(0.75f, 0.1f), signal, 0f, 1f, UltiDraw.DarkGrey, colors);
* UltiDraw.DrawGUIFunctions(new Vector2(0.5f, 0.25f), new Vector2(0.75f, 0.1f), stateInput, 0f, 1f, UltiDraw.DarkGrey, colors);
* UltiDraw.DrawGUIFunctions(new Vector2(0.5f, 0.1f), new Vector2(0.75f, 0.1f), signalInput, -1f, 1f, UltiDraw.DarkGrey, colors);
*/
UltiDraw.End();
}
public void Draw(Color boneColor, Color jointColor, float alpha)
{
UltiDraw.Begin();
if (DrawSkeleton)
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) =>
{
if (bone.Visiable)
{
if (bone.GetParent() != null)
{
UltiDraw.DrawBone
(
bone.GetParent().Transform.position,
Quaternion.FromToRotation(bone.GetParent().Transform.forward, bone.Transform.position - bone.GetParent().Transform.position) * bone.GetParent().Transform.rotation,
12.5f * BoneSize * bone.GetLength(), bone.GetLength(),
boneColor.Transparent(alpha)
);
}
UltiDraw.DrawSphere(
bone.Transform.position,
Quaternion.identity,
3f / 8f * BoneSize,
jointColor.Transparent(alpha)
);
}
for (int i = 0; i < bone.Childs.Length; i++)
{
recursion(bone.GetChild(i));
}
});
if (Bones.Length > 0)
{
recursion(Bones[0]);
}
}
if (DrawVelocities)
{
for (int i = 0; i < Bones.Length; i++)
{
if (Bones[i].Visiable)
{
UltiDraw.DrawArrow(
Bones[i].Transform.position,
Bones[i].Transform.position + Bones[i].Velocity,
0.25f,
0.025f,
0.2f,
UltiDraw.DarkGreen.Transparent(0.5f)
);
}
}
}
if (DrawTransforms)
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) =>
{
if (bone.Visiable)
{
UltiDraw.DrawTranslateGizmo(bone.Transform.position, bone.Transform.rotation, 0.05f);
for (int i = 0; i < bone.Childs.Length; i++)
{
recursion(bone.GetChild(i));
}
}
});
if (Bones.Length > 0)
{
recursion(Bones[0]);
}
}
UltiDraw.End();
}
void OnRenderObject()
{
if (Application.isPlaying)
{
if (NN.Parameters == null)
{
return;
}
if (AnimationAuthoring == null)
{
return;
}
if (AnimationAuthoring.ControlPoints.Count <= 0)
{
return;
}
if (ShowAuthoring)
{
UltiDraw.SetDepthRendering(true);
AnimationAuthoring.StyleColors = new Color[] { AnimationAuthoring.Idle, AnimationAuthoring.Move, AnimationAuthoring.Jump, AnimationAuthoring.Sit, AnimationAuthoring.Stand, AnimationAuthoring.Lie, AnimationAuthoring.Sneak, AnimationAuthoring.Eat, AnimationAuthoring.Hydrate };
if (MotionTime <= 0.0f)
{
MotionTime = AnimationAuthoring.GetControlPoint(AnimationAuthoring.RefTimestamp, 0).GetMotionTime();
}
if (MotionTime > 0.0f)
{
GUIStyle style = new GUIStyle();
style.normal.textColor = UltiDraw.Red;
style.fontSize = 20;
Vector3 pos = AnimationAuthoring.GetLookUpPoint(AnimationAuthoring.RefTimestamp).GetPosition();
#if UNITY_EDITOR
Handles.Label(new Vector3(pos.x, pos.y + 1f, pos.z), string.Format("{0:0.0}s", MotionTime), style);
#endif
}
int countCpInspector = 0;
foreach (ControlPoint cp in AnimationAuthoring.ControlPoints)
{
if (cp.Inspector)
{
countCpInspector++;
}
else
{
continue;
}
//AnimationAuthoring.LabelCP(cp, (countCpInspector - 1).ToString());
UltiDraw.Begin();
UltiDraw.DrawSphere(AnimationAuthoring.GetGroundPosition(cp.GetPosition(), cp.Ground), Quaternion.identity, 0.1f, UltiDraw.Red);
UltiDraw.End();
}
Color[] colors = AnimationAuthoring.StyleColors;
for (int i = 0; i < AnimationAuthoring.LookUpPoints.Length; i++)
{
//draw every 4th point
if ((i % (4 * AnimationAuthoring.TimeInterval) != 0) || !AnimationAuthoring.GetControlPoint(i * AnimationAuthoring.TimeDelta, +1).Inspector)
{
continue;
}
float r = 0f;
float g = 0f;
float b = 0f;
for (int j = 0; j < AnimationAuthoring.LookUpPoints[i].GetStyle().Length; j++)
{
r += AnimationAuthoring.LookUpPoints[i].GetStyle()[j] * colors[j].r;
g += AnimationAuthoring.LookUpPoints[i].GetStyle()[j] * colors[j].g;
b += AnimationAuthoring.LookUpPoints[i].GetStyle()[j] * colors[j].b;
}
Color color = new Color(r, g, b, 1f);
UltiDraw.Begin();
UltiDraw.DrawCube(AnimationAuthoring.GetPointPositon(i * AnimationAuthoring.TimeDelta), Quaternion.identity, 0.05f, color);
UltiDraw.End();
}
}
if (ShowTrajectory)
{
UltiDraw.SetDepthRendering(false);
UltiDraw.Begin();
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetDirection, 0.05f, 0f, UltiDraw.Red.Transparent(0.75f));
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetVelocity, 0.05f, 0f, UltiDraw.Green.Transparent(0.75f));
UltiDraw.End();
Trajectory.Draw(10);
}
if (ShowVelocities)
{
UltiDraw.SetDepthRendering(false);
UltiDraw.Begin();
for (int i = 0; i < Actor.Bones.Length; i++)
{
UltiDraw.DrawArrow(
Actor.Bones[i].Transform.position,
Actor.Bones[i].Transform.position + Velocities[i],
0.75f,
0.0075f,
0.05f,
UltiDraw.Purple.Transparent(0.5f)
);
}
UltiDraw.End();
}
float[] a = new float[100];
for (int i = 0; i < a.Length; i++)
{
float x = (float)i / (float)(a.Length - 1);
a[i] = SmoothStep(x, 2f, .8f);
}
UltiDraw.Begin();
//UltiDraw.DrawGUIFunction(new Vector2(0.5f, 0.5f), new Vector2(1f, 1f), a, 0f, 1f, Color.white, Color.black);
UltiDraw.End();
if (DrawLatentSpaces)
{
UltiDraw.SetDepthRendering(false);
UltiDraw.Begin();
float YMin = 0f;
float YMax = 0f;
Tensor t0 = NN.GetTensor("W0");
Tensor t1 = NN.GetTensor("W1");
Tensor t2 = NN.GetTensor("W2");
float[] arr0 = new float[t0.GetCols()];
float[] arr1 = new float[t1.GetCols()];
float[] arr2 = new float[t2.GetCols()];
for (int i = 0; i < t0.GetCols(); i++)
{
float x = (float)i / (float)(arr0.Length - 1);
//arr[i] = SmoothStep(x, 2f, .8f);
float colMean = 0f;
for (int j = 0; j < t0.GetRows(); j++)
{
colMean += t0.GetValue(j, i);
}
arr0[i] = colMean;
}
for (int i = 0; i < t1.GetCols(); i++)
{
float x = (float)i / (float)(arr1.Length - 1);
//arr[i] = SmoothStep(x, 2f, .8f);
float colMean = 0f;
for (int j = 0; j < t1.GetRows(); j++)
{
colMean += t1.GetValue(j, i);
}
arr1[i] = colMean;
}
for (int i = 0; i < t2.GetCols(); i++)
{
float x = (float)i / (float)(arr2.Length - 1);
//arr[i] = SmoothStep(x, 2f, .8f);
float colMean = 0f;
for (int j = 0; j < t2.GetRows(); j++)
{
colMean += t2.GetValue(j, i);
}
arr2[i] = colMean;
}
YMin = -10f;
YMax = 10f;
UltiDraw.DrawGUIFunction(new Vector2(0.5f, 0.9f), new Vector2(0.4f, 0.1f), arr0, YMin, YMax, UltiDraw.LightGrey, UltiDraw.Black, 0.002f, UltiDraw.BlackGrey);
YMin = -16f;
YMax = 13f;
UltiDraw.DrawGUIFunction(new Vector2(0.5f, 0.79f), new Vector2(0.4f, 0.1f), arr1, YMin, YMax, UltiDraw.LightGrey, UltiDraw.Black, 0.002f, UltiDraw.BlackGrey);
YMin = -2f;
YMax = 2f;
UltiDraw.DrawGUIFunction(new Vector2(0.5f, 0.68f), new Vector2(0.4f, 0.1f), arr2, YMin, YMax, UltiDraw.LightGrey, UltiDraw.Black, 0.002f, UltiDraw.BlackGrey);
UltiDraw.End();
}
}
}
void OnRenderObject()
{
if (Application.isPlaying)
{
if (NN.Parameters == null)
{
return;
}
float[] arr2 = new float[100];
for (int i = 0; i < arr2.Length; i++)
{
float x = (float)i / (float)(arr2.Length - 1);
arr2[i] = SmoothStep(x, 2f, .8f);
}
UltiDraw.Begin();
//UltiDraw.DrawGUIFunction(new Vector2(0.7f, 0.8f), new Vector2(0.1f, 0.1f), arr2, 0f, 1f, Color.white, Color.black);
if (DrawNetworkSpace)
{
float YMin = 0f;
float YMax = 0f;
Tensor t = new Tensor(0, 0);
if (DrawFirstLayer)
{
YMin = -10f;
YMax = 10f;
t = NN.GetTensor("W0");
}
else if (DrawSecondLayer)
{
YMin = -16f;
YMax = 13f;
t = NN.GetTensor("W1");
}
else if (DrawThirdLayer)
{
YMin = -2f;
YMax = 2f;
t = NN.GetTensor("W2");
}
float[] arr = new float[t.GetCols()];
for (int i = 0; i < t.GetCols(); i++)
{
float x = (float)i / (float)(arr.Length - 1);
//arr[i] = SmoothStep(x, 2f, .8f);
float colMean = 0f;
for (int j = 0; j < t.GetRows(); j++)
{
colMean += t.GetValue(j, i);
}
arr[i] = colMean;
}
Debug.Log(string.Format("MIN: {0}, MAX: {1} COLS: {2}", arr.Min(), arr.Max(), t.GetCols()));
UltiDraw.DrawGUIFunction(new Vector2(0.5f, 0.5f), new Vector2(1f, 1f), arr, YMin, YMax, Color.white, Color.black);
}
UltiDraw.End();
if (ShowTrajectory)
{
UltiDraw.Begin();
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetDirection, 0.05f, 0f, UltiDraw.Red.Transparent(0.75f));
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetVelocity, 0.05f, 0f, UltiDraw.Green.Transparent(0.75f));
UltiDraw.End();
Trajectory.Draw(10);
}
if (ShowVelocities)
{
UltiDraw.Begin();
for (int i = 0; i < Actor.Bones.Length; i++)
{
UltiDraw.DrawArrow(
Actor.Bones[i].Transform.position,
Actor.Bones[i].Transform.position + Velocities[i],
0.75f,
0.0075f,
0.05f,
UltiDraw.Purple.Transparent(0.5f)
);
}
UltiDraw.End();
}
UltiDraw.Begin();
//UltiDraw.DrawGUIHorizontalBar(new Vector2(0.5f, 0.74f), new Vector2(0.25f, 0.025f), UltiDraw.DarkGrey.Transparent(0.5f), 0.0025f, UltiDraw.Black, Trajectory.Points[RootPointIndex].GetVelocity().magnitude / 4f, UltiDraw.DarkGreen);
UltiDraw.End();
}
}
void OnRenderObject()
{
if (ShowTrajectory)
{
if (Application.isPlaying)
{
//UltiDraw.Begin();
//UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetDirection, 0.05f, 0f, UltiDraw.Orange.Transparent(0.75f));
//UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetVelocity, 0.05f, 0f, UltiDraw.Green.Transparent(0.75f));
//UltiDraw.End();
Trajectory.Draw(10);
}
}
if (Application.isPlaying)
{
/*
* for(int i=5; i<6; i++) {
* for(int j=0; j<Character.Hierarchy.Length; j++) {
* Matrix4x4 mat = Matrix4x4.TRS(PastPositions[j][i*10], Quaternion.LookRotation(PastForwards[j][i*10], PastUps[j][i*10]), Vector3.one);
* Character.Hierarchy[j].SetTransformation(mat);
* }
* Character.DrawSimple(Color.Lerp(UltiDraw.Blue, UltiDraw.Cyan, 1f - (float)(i+1)/6f).Transparent(0.75f));
* }
*/
/*
* for(int i=0; i<5; i++) {
* for(int j=0; j<Character.Hierarchy.Length; j++) {
* Matrix4x4 mat = Matrix4x4.TRS(FuturePositions[j][i], Quaternion.LookRotation(FutureForwards[j][i], FutureUps[j][i]), Vector3.one);
* Character.Hierarchy[j].SetTransformation(mat);
* }
* Character.DrawSimple(Color.Lerp(UltiDraw.Red, UltiDraw.Orange, (float)(i+1)/5f).Transparent(0.75f));
* }
*/
}
Character.FetchTransformations(transform);
Character.Draw();
if (ShowVelocities)
{
if (Application.isPlaying)
{
UltiDraw.Begin();
for (int i = 0; i < Joints.Length; i++)
{
Character.Segment segment = Character.FindSegment(Joints[i].name);
if (segment != null)
{
UltiDraw.DrawArrow(
Joints[i].position,
Joints[i].position + Velocities[i],
0.75f,
0.0075f,
0.05f,
UltiDraw.Purple.Transparent(0.5f)
);
}
}
UltiDraw.End();
}
}
}
protected override void OnRenderObjectDerived()
{
Controller.Draw();
if (ShowRoot)
{
RootSeries.Draw();
}
if (ShowGoal)
{
GoalSeries.Draw();
}
if (ShowCurrent)
{
StyleSeries.Draw();
}
if (ShowPhase)
{
PhaseSeries.Draw();
}
if (ShowContacts)
{
ContactSeries.Draw();
}
if (ShowEnvironment)
{
Environment.Draw(UltiDraw.Mustard.Transparent(0.25f));
}
if (ShowInteraction)
{
Geometry.Draw(UltiDraw.Cyan.Transparent(0.25f));
}
if (ShowBiDirectional)
{
UltiDraw.Begin();
for (int i = 0; i < PosePrediction.Length; i++)
{
UltiDraw.DrawSphere(PosePrediction[i], Quaternion.identity, 0.05f, UltiDraw.Magenta);
}
for (int i = 0; i < RootPrediction.Length; i++)
{
UltiDraw.DrawCircle(RootPrediction[i].GetPosition(), 0.05f, UltiDraw.DarkRed.Darken(0.5f));
UltiDraw.DrawArrow(RootPrediction[i].GetPosition(), RootPrediction[i].GetPosition() + 0.1f * RootPrediction[i].GetForward(), 0f, 0f, 0.025f, UltiDraw.DarkRed);
if (i < RootPrediction.Length - 1)
{
UltiDraw.DrawLine(RootPrediction[i].GetPosition(), RootPrediction[i + 1].GetPosition(), UltiDraw.Black);
}
}
for (int i = 0; i < GoalPrediction.Length; i++)
{
UltiDraw.DrawCircle(GoalPrediction[i].GetPosition(), 0.05f, UltiDraw.DarkGreen.Darken(0.5f));
UltiDraw.DrawArrow(GoalPrediction[i].GetPosition(), GoalPrediction[i].GetPosition() + 0.1f * GoalPrediction[i].GetForward(), 0f, 0f, 0.025f, UltiDraw.DarkGreen);
if (i < GoalPrediction.Length - 1)
{
UltiDraw.DrawLine(GoalPrediction[i].GetPosition(), GoalPrediction[i + 1].GetPosition(), UltiDraw.Black);
}
}
UltiDraw.End();
}
}
public void Draw(Color boneColor, Color jointColor, float alpha)
{
UltiDraw.Begin();
if (DrawRoot)
{
UltiDraw.DrawTranslateGizmo(GetRoot().position, GetRoot().rotation, 0.1f);
UltiDraw.DrawSphere(GetRoot().position, GetRoot().rotation, 0.025f, UltiDraw.Black);
UltiDraw.DrawLine(Bones[0].Transform.position, GetRoot().position, UltiDraw.Mustard);
}
if (DrawSkeleton)
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) => {
if (bone.GetParent() != null)
{
//if(bone.GetLength() > 0.05f) {
UltiDraw.DrawBone(
bone.GetParent().Transform.position,
Quaternion.FromToRotation(bone.GetParent().Transform.forward, bone.Transform.position - bone.GetParent().Transform.position) * bone.GetParent().Transform.rotation,
12.5f * BoneSize * bone.GetLength(), bone.GetLength(),
boneColor.Transparent(alpha)
);
//}
}
UltiDraw.DrawSphere(
bone.Transform.position,
Quaternion.identity,
5f / 8f * BoneSize,
jointColor.Transparent(alpha)
);
for (int i = 0; i < bone.Childs.Length; i++)
{
recursion(bone.GetChild(i));
}
});
if (Bones.Length > 0)
{
recursion(Bones[0]);
}
}
if (DrawVelocities)
{
UltiDraw.Begin();
for (int i = 0; i < Bones.Length; i++)
{
UltiDraw.DrawArrow(
Bones[i].Transform.position,
Bones[i].Transform.position + Bones[i].Velocity,
0.75f,
0.0075f,
0.05f,
UltiDraw.Purple.Transparent(0.5f)
);
}
UltiDraw.End();
}
if (DrawTransforms)
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) => {
UltiDraw.DrawTranslateGizmo(bone.Transform.position, bone.Transform.rotation, 0.05f);
for (int i = 0; i < bone.Childs.Length; i++)
{
recursion(bone.GetChild(i));
}
});
if (Bones.Length > 0)
{
recursion(Bones[0]);
}
}
UltiDraw.End();
}
public void Draw(int step = 1)
{
UltiDraw.Begin();
Color[] colors = UltiDraw.GetRainbowColors(Styles.Length);
//Connections
for (int i = 0; i < Points.Length - step; i += step)
{
UltiDraw.DrawLine(Points[i].GetPosition(), Points[i + step].GetPosition(), 0.01f, UltiDraw.Black);
}
//Velocities
for (int i = 0; i < Points.Length; i += step)
{
//Vector3 start = Points[i].GetPosition();
//Vector3 end = Points[i].GetPosition() + Points[i].GetVelocity();
//end = Utility.ProjectGround(end, LayerMask.GetMask("Ground"));
//UltiDraw.DrawLine(start, end, 0.025f, 0f, UltiDraw.DarkGreen.Transparent(0.5f));
/*
* float r = 0f;
* float g = 0f;
* float b = 0f;
* for(int j=0; j<Points[i].Styles.Length; j++) {
* r += Points[i].Styles[j] * colors[j].r;
* g += Points[i].Styles[j] * colors[j].g;
* b += Points[i].Styles[j] * colors[j].b;
* }
* UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].GetVelocity(), 0.025f, 0f, new Color(r, g, b, 0.5f));
*/
//UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].GetVelocity(), 0.025f, 0f, UltiDraw.DarkGreen.Transparent(0.5f));
}
//Directions
for (int i = 0; i < Points.Length; i += step)
{
//Vector3 start = Points[i].GetPosition();
//Vector3 end = Points[i].GetPosition() + 0.25f * Points[i].GetDirection();
//end = Utility.ProjectGround(end, LayerMask.GetMask("Ground"));
//UltiDraw.DrawLine(start, end, 0.025f, 0f, UltiDraw.Orange.Transparent(0.75f));
UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + 0.25f * Points[i].GetDirection(), 0.025f, 0f, UltiDraw.Orange.Transparent(0.75f));
}
//Styles
if (Styles.Length > 0)
{
for (int i = 0; i < Points.Length; i += step)
{
float r = 0f;
float g = 0f;
float b = 0f;
for (int j = 0; j < Points[i].Styles.Length; j++)
{
r += Points[i].Styles[j] * colors[j].r;
g += Points[i].Styles[j] * colors[j].g;
b += Points[i].Styles[j] * colors[j].b;
}
Color color = new Color(r, g, b, 1f);
UltiDraw.DrawCube(Points[i].GetPosition(), Points[i].GetRotation(), 0.05f, color);
}
}
//Signals
/*
* if(Styles.Length > 0) {
* for(int i=0; i<Points.Length; i+=step) {
* Color color = UltiDraw.Black;
* for(int j=0; j<Points[i].Signals.Length; j++) {
* if(Points[i].Signals[j]) {
* color = colors[j];
* break;
* }
* }
* UltiDraw.DrawCone(Points[i].GetPosition(), Quaternion.identity, 0.1f, 0.1f, color);
* }
* }
*/
/*
* //Speed
* for(int i=0; i<Points.Length; i+=step) {
* float r = 0f;
* float g = 0f;
* float b = 0f;
* for(int j=0; j<Points[i].Styles.Length; j++) {
* r += Points[i].Styles[j] * colors[j].r;
* g += Points[i].Styles[j] * colors[j].g;
* b += Points[i].Styles[j] * colors[j].b;
* }
* UltiDraw.DrawArrow(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].GetSpeed() * Points[i].GetTransformation().GetForward(), 0.8f, 0.02f, 0.04f, new Color(r, g, b, 0.5f));
* }
*/
//Projections
//for(int i=0; i<Points.Length; i+=step) {
// Vector3 right = Points[i].GetRightSample();
// Vector3 left = Points[i].GetLeftSample();
// UltiDraw.DrawCircle(right, 0.01f, UltiDraw.Yellow);
// UltiDraw.DrawCircle(left, 0.01f, UltiDraw.Yellow);
//}
//Slopes
//for(int i=0; i<Points.Length; i+=step) {
// UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + 1f * Points[i].GetSlope() * Vector3.up, 0.025f, 0f, UltiDraw.Blue.Transparent(0.75f));
//}
//Positions
for (int i = 0; i < Points.Length; i += step)
{
UltiDraw.DrawCircle(Points[i].GetPosition(), 0.025f, UltiDraw.Black);
}
//Phase
for (int i = 0; i < Points.Length; i += step)
{
//UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].Phase*Vector3.up, UltiDraw.IndianRed);
UltiDraw.DrawArrow(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].Phase * Vector3.up, 0.8f, 0.025f, 0.05f, UltiDraw.IndianRed.Transparent(0.5f));
//UltiDraw.DrawSphere(Points[i].GetPosition(), Quaternion.identity, Points[i].PhaseUpdate / 10f, UltiDraw.Purple.Transparent(0.25f));
}
UltiDraw.End();
}
public void Draw(Color boneColor, Color jointColor, float alpha)
{
UltiDraw.Begin();
if (DrawRoot)
{
UltiDraw.DrawWiredSphere(GetRoot().position, GetRoot().rotation, 0.1f, UltiDraw.DarkRed, UltiDraw.Black);
UltiDraw.DrawTranslateGizmo(GetRoot().position, GetRoot().rotation, 0.1f);
}
if (DrawSkeleton)
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) => {
if (bone.GetParent() != null)
{
//if(bone.GetLength() > 0.05f) {
UltiDraw.DrawBone(
bone.GetParent().Transform.position,
Quaternion.FromToRotation(bone.GetParent().Transform.forward, bone.Transform.position - bone.GetParent().Transform.position) * bone.GetParent().Transform.rotation,
12.5f * BoneSize * bone.GetLength(), bone.GetLength(),
boneColor.Transparent(alpha)
);
//}
}
UltiDraw.DrawSphere(
bone.Transform.position,
Quaternion.identity,
5f / 8f * BoneSize,
jointColor.Transparent(alpha)
);
for (int i = 0; i < bone.Childs.Length; i++)
{
recursion(bone.GetChild(i));
}
});
if (Bones.Length > 0)
{
recursion(Bones[0]);
}
}
if (DrawVelocities)
{
for (int i = 0; i < Bones.Length; i++)
{
UltiDraw.DrawArrow(
Bones[i].Transform.position,
Bones[i].Transform.position + Bones[i].Velocity,
0.75f,
0.0075f,
0.05f,
UltiDraw.DarkGreen.Transparent(0.5f)
);
}
}
if (DrawAccelerations)
{
for (int i = 0; i < Bones.Length; i++)
{
UltiDraw.DrawArrow(
Bones[i].Transform.position,
Bones[i].Transform.position + Bones[i].Acceleration,
0.75f,
0.0075f,
0.05f,
UltiDraw.DarkBlue.Transparent(0.5f)
);
}
}
if (DrawForces)
{
for (int i = 0; i < Bones.Length; i++)
{
UltiDraw.DrawArrow(
Bones[i].Transform.position,
Bones[i].Transform.position + Bones[i].Force,
0.75f,
0.0075f,
0.05f,
UltiDraw.DarkRed.Transparent(0.5f)
);
}
}
if (DrawTransforms)
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) => {
UltiDraw.DrawTranslateGizmo(bone.Transform.position, bone.Transform.rotation, 0.05f);
for (int i = 0; i < bone.Childs.Length; i++)
{
recursion(bone.GetChild(i));
}
});
if (Bones.Length > 0)
{
recursion(Bones[0]);
}
}
UltiDraw.End();
if (DrawHistory)
{
if (DrawSkeleton)
{
for (int i = 0; i < History.Count; i++)
{
Sketch(History[i].Transformations, UltiDraw.GetRainbowColor(Index, 2).Transparent(0.5f));
}
}
if (DrawVelocities)
{
float max = 0f;
List <float[]> functions = new List <float[]>();
for (int i = 0; i < Bones.Length; i++)
{
float[] function = new float[History.Count];
for (int j = 0; j < function.Length; j++)
{
function[j] = History[j].Velocities[i].magnitude;
max = Mathf.Max(max, function[j]);
}
functions.Add(function);
}
UltiDraw.Begin();
UltiDraw.DrawGUIFunctions(new Vector2(0.5f, 0.05f), new Vector2(0.9f, 0.1f), functions, 0f, max, 0.0025f, UltiDraw.DarkGrey, UltiDraw.GetRainbowColors(functions.Count));
UltiDraw.End();
}
if (DrawAccelerations)
{
float max = 0f;
List <float[]> functions = new List <float[]>();
for (int i = 0; i < Bones.Length; i++)
{
float[] function = new float[History.Count];
for (int j = 0; j < function.Length; j++)
{
function[j] = History[j].Accelerations[i].magnitude;
max = Mathf.Max(max, function[j]);
}
functions.Add(function);
}
UltiDraw.Begin();
UltiDraw.DrawGUIFunctions(new Vector2(0.5f, 0.175f), new Vector2(0.9f, 0.1f), functions, 0f, max, 0.0025f, UltiDraw.DarkGrey, UltiDraw.GetRainbowColors(functions.Count));
UltiDraw.End();
}
}
}
public void Draw()
{
if (ShowMotion)
{
for (int i = 0; i < GetState().PastBoneTransformations.Count; i++)
{
GetActor().DrawSimple(Color.Lerp(UltiDraw.Blue, UltiDraw.Cyan, 1f - (float)(i + 1) / 6f).Transparent(0.75f), GetState().PastBoneTransformations[i]);
}
/*
* for(int i=1; i<=5; i++) {
* MotionData.Frame future = Data.GetFrame(Mathf.Clamp(GetState().Timestamp + (float)i/5f, 0f, Data.GetTotalTime()));
* GetActor().DrawSimple(Color.Lerp(UltiDraw.Red, UltiDraw.Orange, (float)(i+1)/5f).Transparent(0.75f), future.GetBoneTransformations(Mirror));
* }
*/
}
if (ShowVelocities)
{
UltiDraw.Begin();
for (int i = 0; i < GetActor().Bones.Length; i++)
{
UltiDraw.DrawArrow(
GetActor().Bones[i].Transform.position,
GetActor().Bones[i].Transform.position + GetState().BoneVelocities[i],
0.75f,
0.0075f,
0.05f,
UltiDraw.Purple.Transparent(0.5f)
);
}
UltiDraw.End();
}
if (ShowTrajectory)
{
GetState().Trajectory.Draw();
}
if (ShowHeightMap)
{
GetState().HeightMap.Draw();
}
if (ShowDepthMap)
{
GetState().DepthMap.Draw();
}
UltiDraw.Begin();
UltiDraw.DrawGUIRectangle(Vector2.one / 2f, Vector2.one, UltiDraw.Mustard);
UltiDraw.End();
if (ShowDepthImage)
{
UltiDraw.Begin();
Vector2 size = new Vector2(0.5f, 0.5f * Screen.width / Screen.height);
for (int x = 0; x < GetState().DepthMap.GetResolution(); x++)
{
for (int y = 0; y < GetState().DepthMap.GetResolution(); y++)
{
float distance = Vector3.Distance(GetState().DepthMap.Points[GetState().DepthMap.GridToArray(x, y)], GetState().DepthMap.Pivot.GetPosition());
float intensity = 1f - distance / GetState().DepthMap.GetDistance();
//intensity = Utility.TanH(intensity);
UltiDraw.DrawGUIRectangle(Vector2.one / 2f - size / 2f + new Vector2((float)x * size.x, (float)y * size.y) / (GetState().DepthMap.GetResolution() - 1), size / (GetState().DepthMap.GetResolution() - 1), Color.Lerp(Color.black, Color.white, intensity));
}
}
UltiDraw.End();
}
//Motion Function
/*
* MotionData.Frame[] frames = Data.GetFrames(Mathf.Clamp(GetState().Timestamp-1f, 0f, Data.GetTotalTime()), Mathf.Clamp(GetState().Timestamp+1f, 0f, Data.GetTotalTime()));
* List<float[]> values = new List<float[]>();
* for(int i=0; i<Actor.Bones.Length; i++) {
* values.Add(new float[frames.Length]);
* }
* for(int i=0; i<frames.Length; i++) {
* for(int j=0; j<Actor.Bones.Length; j++) {
* values[j][i] = frames[i].GetBoneVelocity(j, Mirror).magnitude;
* }
* //Vector3 motion = frames[i].GetRootMotion(Mirror);
* //values[0][i] = motion.x;
* //values[1][i] = motion.y / 180f;
* //values[2][i] = motion.z;
* }
* UltiDraw.Begin();
* UltiDraw.DrawGUIFunctions(new Vector2(0.5f, 0.5f), new Vector2(1f, 1f), values, -2f, 2f, 0.0025f, UltiDraw.DarkGrey, UltiDraw.GetRainbowColors(values.Count));
* UltiDraw.DrawGUILine(new Vector2(0.5f, 1f), new Vector2(0.5f, 0f), 0.0025f, UltiDraw.Green);
* UltiDraw.End();
*/
//Agility Function
/*
* MotionData.Frame[] frames = Data.GetFrames(Mathf.Clamp(GetState().Timestamp-1f, 0f, Data.GetTotalTime()), Mathf.Clamp(GetState().Timestamp+1f, 0f, Data.GetTotalTime()));
* List<float[]> values = new List<float[]>();
* for(int i=0; i<Data.Source.Bones.Length; i++) {
* values.Add(new float[frames.Length]);
* for(int j=0; j<frames.Length; j++) {
* values[i][j] = frames[j].GetAgility(i, Mirror);
* }
* }
* UltiDraw.Begin();
* UltiDraw.DrawGUIFunctions(new Vector2(0.5f, 0.5f), new Vector2(1f, 1f), values, -1f, 1f, 0.0025f, UltiDraw.DarkGrey, UltiDraw.GetRainbowColors(values.Count));
* UltiDraw.DrawGUILine(new Vector2(0.5f, 1f), new Vector2(0.5f, 0f), 0.0025f, UltiDraw.Green);
* UltiDraw.End();
*/
}
protected override void DerivedDraw(MotionEditor editor)
{
UltiDraw.Begin();
Frame frame = editor.GetCurrentFrame();
Color[] colors = UltiDraw.GetRainbowColors(Sensors.Length);
if (ShowDebug)
{
for (int i = 0; i < Sensors.Length; i++)
{
if (Sensors[i].GetContact(frame, editor.Mirror) == 1f)
{
Vector3 contact = Sensors[i].GetContactPoint(frame, editor.Mirror);
Vector3 corrected = Sensors[i].GetCorrectedContactPoint(frame, editor.Mirror);
UltiDraw.DrawArrow(contact, corrected, 0.8f, 0.01f, DrawScale * 0.025f, colors[i].Transparent(0.5f));
UltiDraw.DrawSphere(contact, Quaternion.identity, DrawScale * 0.025f, UltiDraw.Yellow);
UltiDraw.DrawSphere(corrected, Quaternion.identity, DrawScale * 0.05f, UltiDraw.Gold.Transparent(0.5f));
}
}
for (int i = 0; i < Sensors.Length; i++)
{
Matrix4x4 bone = frame.GetBoneTransformation(Sensors[i].Bone, editor.Mirror);
Matrix4x4 corrected = Sensors[i].GetCorrectedTransformation(frame, editor.Mirror);
UltiDraw.DrawCube(bone, DrawScale * 0.025f, UltiDraw.DarkRed.Transparent(0.5f));
UltiDraw.DrawLine(bone.GetPosition(), corrected.GetPosition(), colors[i].Transparent(0.5f));
UltiDraw.DrawCube(corrected, DrawScale * 0.025f, UltiDraw.DarkGreen.Transparent(0.5f));
}
}
if (ShowSensors)
{
for (int i = 0; i < Sensors.Length; i++)
{
Quaternion rot = editor.GetActor().GetBoneTransformation(Sensors[i].GetName()).GetRotation();
Vector3 pos = editor.GetActor().GetBoneTransformation(Sensors[i].GetName()).GetPosition() + rot * Sensors[i].Offset;
UltiDraw.DrawCube(pos, rot, DrawScale * 0.025f, UltiDraw.Black);
UltiDraw.DrawWireSphere(pos, rot, 2f * Sensors[i].Threshold, colors[i].Transparent(0.25f));
if (Sensors[i].GetContact(frame, editor.Mirror) == 1f)
{
UltiDraw.DrawSphere(pos, rot, 2f * Sensors[i].Threshold, colors[i]);
}
else
{
UltiDraw.DrawSphere(pos, rot, 2f * Sensors[i].Threshold, colors[i].Transparent(0.125f));
}
}
}
if (ShowTolerances)
{
for (int i = 0; i < Sensors.Length; i++)
{
Quaternion rot = editor.GetActor().GetBoneTransformation(Sensors[i].GetName()).GetRotation();
Vector3 pos = editor.GetActor().GetBoneTransformation(Sensors[i].GetName()).GetPosition() + rot * Sensors[i].Offset;
UltiDraw.DrawWireSphere(pos, rot, 2f * (Sensors[i].Tolerance + Sensors[i].Threshold), UltiDraw.DarkGrey.Transparent(0.25f));
}
}
if (ShowContacts)
{
for (int i = 0; i < Sensors.Length; i++)
{
if (Sensors[i].Edit != Sensor.ID.None)
{
for (float j = 0f; j <= Data.GetTotalTime(); j += Mathf.Max(Step, 1) / Data.Framerate)
{
Frame reference = Data.GetFrame(j);
if (Sensors[i].GetContact(reference, editor.Mirror) == 1f)
{
UltiDraw.DrawSphere(Sensors[i].GetContactPoint(reference, editor.Mirror), Quaternion.identity, DrawScale * 0.025f, colors[i]);
}
}
}
}
}
/*
* if(ShowSkeletons) {
* UltiDraw.End();
* float start = Mathf.Clamp(frame.Timestamp-Window, 0f, Data.GetTotalTime());
* float end = Mathf.Clamp(frame.Timestamp+Window, 0f, Data.GetTotalTime());
* float inc = Mathf.Max(SkeletonStep, 1)/Data.Framerate;
* for(float j=start; j<=end; j+=inc) {
* Frame reference = Data.GetFrame(j);
* float weight = (j-start+inc) / (end-start+inc);
* editor.GetActor().Sketch(reference.GetBoneTransformations(editor.GetActor().GetBoneNames(), editor.Mirror), Color.Lerp(UltiDraw.Cyan, UltiDraw.Magenta, weight).Transparent(weight));
* }
* UltiDraw.Begin();
* }
*/
if (TrueMotionTrajectory || CorrectedMotionTrajectory)
{
for (int i = 0; i < Sensors.Length; i++)
{
if (Sensors[i].Edit != Sensor.ID.None)
{
Vector3 previousPos = Vector3.zero;
Vector3 previousCorrected = Vector3.zero;
float start = Mathf.Clamp(frame.Timestamp - PastTrajectoryWindow, 0f, Data.GetTotalTime());
float end = Mathf.Clamp(frame.Timestamp + FutureTrajectoryWindow, 0f, Data.GetTotalTime());
for (float j = start; j <= end; j += Mathf.Max(Step, 1) / Data.Framerate)
{
Frame reference = Data.GetFrame(j);
Matrix4x4 bone = reference.GetBoneTransformation(Sensors[i].Bone, editor.Mirror);
Matrix4x4 corrected = Sensors[i].GetCorrectedTransformation(reference, editor.Mirror);
if (j > start)
{
if (TrueMotionTrajectory)
{
UltiDraw.DrawArrow(previousPos, bone.GetPosition(), 0.8f, DrawScale * 0.005f, DrawScale * 0.025f, UltiDraw.DarkRed.Lighten(0.5f).Transparent(0.5f));
}
if (CorrectedMotionTrajectory)
{
UltiDraw.DrawArrow(previousCorrected, corrected.GetPosition(), 0.8f, DrawScale * 0.005f, DrawScale * 0.025f, UltiDraw.DarkGreen.Lighten(0.5f).Transparent(0.5f));
}
//UltiDraw.DrawLine(previousPos, bone.GetPosition(), UltiDraw.DarkRed.Transparent(0.5f));
//UltiDraw.DrawLine(previousCorrected, corrected.GetPosition(), UltiDraw.DarkGreen.Transparent(0.5f));
}
previousPos = bone.GetPosition();
previousCorrected = corrected.GetPosition();
if (TrueMotionTrajectory)
{
UltiDraw.DrawCube(bone, DrawScale * 0.025f, UltiDraw.DarkRed.Transparent(0.5f));
}
//UltiDraw.DrawLine(bone.GetPosition(), corrected.GetPosition(), colors[i].Transparent(0.5f));
if (CorrectedMotionTrajectory)
{
UltiDraw.DrawCube(corrected, DrawScale * 0.025f, UltiDraw.DarkGreen.Transparent(0.5f));
}
}
}
}
}
if (ContactTrajectories)
{
for (int i = 0; i < Sensors.Length; i++)
{
if (Sensors[i].Edit != Sensor.ID.None)
{
float start = Mathf.Clamp(frame.Timestamp - Window, 0f, Data.GetTotalTime());
float end = Mathf.Clamp(frame.Timestamp + Window, 0f, Data.GetTotalTime());
for (float j = 0f; j <= Data.GetTotalTime(); j += Mathf.Max(Step, 1) / Data.Framerate)
{
Frame reference = Data.GetFrame(j);
if (Sensors[i].GetContact(reference, editor.Mirror) == 1f)
{
Vector3 contact = Sensors[i].GetContactPoint(reference, editor.Mirror);
Vector3 corrected = Sensors[i].GetCorrectedContactPoint(reference, editor.Mirror);
UltiDraw.DrawArrow(contact, corrected, 0.8f, Vector3.Distance(contact, corrected) * DrawScale * 0.025f, Vector3.Distance(contact, corrected) * DrawScale * 0.1f, colors[i].Lighten(0.5f).Transparent(0.5f));
UltiDraw.DrawSphere(contact, Quaternion.identity, DrawScale * 0.0125f, colors[i].Transparent(0.5f));
UltiDraw.DrawSphere(corrected, Quaternion.identity, DrawScale * 0.05f, colors[i]);
}
}
}
}
}
if (ShowDistances)
{
for (int i = 0; i < Sensors.Length; i++)
{
if (Sensors[i].Edit != Sensor.ID.None)
{
for (float j = frame.Timestamp - PastTrajectoryWindow; j <= frame.Timestamp + FutureTrajectoryWindow; j += Mathf.Max(Step, 1) / Data.Framerate)
{
Frame reference = Data.GetFrame(j);
if (Sensors[i].GetContact(reference, editor.Mirror) == 1f)
{
UltiDraw.DrawArrow(Sensors[i].GetContactPoint(reference, editor.Mirror), Sensors[i].GetContactPoint(reference, editor.Mirror) - Sensors[i].GetContactDistance(reference, editor.Mirror), 0.8f, DrawScale * 0.0025f, DrawScale * 0.01f, colors[i].Transparent(0.5f));
}
}
}
}
}
UltiDraw.End();
}