public static void CalculateImpactPoints(
MotionMatchingData data,
MotionMatchingContact[] contactPoints,
PreparingDataPlayableGraph playableGraph,
GameObject gameObject
)
{
// Normalizacja kierunków kontaktów
for (int i = 0; i < data.contactPoints.Count; i++)
{
MotionMatchingContact cp = data.contactPoints[i];
cp.contactNormal = math.normalize(cp.contactNormal);
data.contactPoints[i] = cp;
}
// Pobrani początkowych wartości game objectu
Vector3 startPos = gameObject.transform.position;
Quaternion startRot = gameObject.transform.rotation;
float deltaTime = data.frameTime;
Matrix4x4 frameMatrix;
NeedValueToCalculateData[] recordedData = new NeedValueToCalculateData[data.numberOfFrames];
Vector3[] cpPos = new Vector3[contactPoints.Length];
Vector3[] cpNormals = new Vector3[contactPoints.Length];
Vector3[] cpForwards = new Vector3[contactPoints.Length];
if (playableGraph != null)
{
playableGraph.Destroy();
}
playableGraph = new PreparingDataPlayableGraph();
playableGraph.Initialize(gameObject);
playableGraph.CreateAnimationDataPlayables(data);
// RecordingData
float currentTime = 0f;
float currentDeltaTime = deltaTime;
int contactPointIndex = 0;
for (int i = 0; i < data.numberOfFrames; i++)
{
recordedData[i] = new NeedValueToCalculateData(
gameObject.transform.position,
gameObject.transform.forward,
gameObject.transform.rotation
);
currentTime += deltaTime;
if (contactPointIndex < contactPoints.Length && currentTime >= contactPoints[contactPointIndex].startTime)
{
float buforDeltaTime = currentTime - contactPoints[contactPointIndex].startTime;
currentDeltaTime = deltaTime - buforDeltaTime;
playableGraph.EvaluateMotionMatchgData(data, currentDeltaTime);
cpPos[contactPointIndex] = gameObject.transform.TransformPoint(contactPoints[contactPointIndex].position);
cpNormals[contactPointIndex] = gameObject.transform.TransformDirection(contactPoints[contactPointIndex].contactNormal);
cpForwards[contactPointIndex] = gameObject.transform.forward;
contactPointIndex++;
playableGraph.EvaluateMotionMatchgData(data, buforDeltaTime);
currentDeltaTime = deltaTime;
}
else
{
playableGraph.EvaluateMotionMatchgData(data, currentDeltaTime);
}
}
// calcualationData
for (int i = 0; i < data.numberOfFrames; i++)
{
frameMatrix = Matrix4x4.TRS(
recordedData[i].position,
recordedData[i].rotation,
Vector3.one
);
FrameData currentFrame = data.frames[i];
for (int impactIndex = 0; impactIndex < data.contactPoints.Count; impactIndex++)
{
if (data.contactPoints[impactIndex].IsContactInTime(currentFrame.localTime))
{
currentFrame.contactPoints = new FrameContact[1];
Vector3 pos = frameMatrix.inverse.MultiplyPoint3x4(cpPos[impactIndex]);
Vector3 norDir = frameMatrix.inverse.MultiplyVector(cpNormals[impactIndex]);
Vector3 forw = frameMatrix.inverse.MultiplyVector(cpForwards[impactIndex]);
FrameContact cp = new FrameContact(
pos,
norDir
//forw
);
currentFrame.contactPoints[0] = cp;
break;
}
else
{
currentFrame.contactPoints = new FrameContact[0];
}
}
if (data.contactPoints.Count == 0)
{
currentFrame.contactPoints = new FrameContact[0];
}
data.frames[i] = currentFrame;
}
gameObject.transform.position = startPos;
gameObject.transform.rotation = startRot;
//if (data.contactPoints.Count >= 2)
//{
// Vector3 firstPoint = data.GetContactPoint(0, data.contactPoints[0].startTime).position;
// Vector3 secondPoint = data.GetContactPoint(1, data.contactPoints[0].startTime).position;
// Vector3 dir = secondPoint - firstPoint;
// dir.y = 0;
// data.fromFirstToSecondContactRot = Quaternion.FromToRotation(dir, Vector3.forward);
//}
//else
//{
// data.fromFirstToSecondContactRot = Quaternion.identity;
//}
playableGraph.ClearMainMixerInput();
playableGraph.Destroy();
}
public static void CalculateContactPoints(
MotionMatchingData data,
MotionMatchingContact[] contactPoints,
PreparingDataPlayableGraph playableGraph,
GameObject gameObject
)
{
for (int i = 0; i < data.contactPoints.Count; i++)
{
MotionMatchingContact cp = data.contactPoints[i];
cp.contactNormal = math.normalize(cp.contactNormal);
data.contactPoints[i] = cp;
}
Vector3 startPos = gameObject.transform.position;
Quaternion startRot = gameObject.transform.rotation;
float deltaTime = data.frameTime;
Matrix4x4 frameMatrix;
NeedValueToCalculateData[] recordedData = new NeedValueToCalculateData[data.numberOfFrames];
Vector3[] cpPos = new Vector3[contactPoints.Length];
Vector3[] cpNormals = new Vector3[contactPoints.Length];
Vector3[] cpForwards = new Vector3[contactPoints.Length];
if (playableGraph != null)
{
playableGraph.Destroy();
}
playableGraph = new PreparingDataPlayableGraph();
playableGraph.Initialize(gameObject);
playableGraph.CreateAnimationDataPlayables(data);
// RecordingData
float currentTime = 0f;
float currentDeltaTime = deltaTime;
int contactPointIndex = 0;
for (int i = 0; i < data.numberOfFrames; i++)
{
recordedData[i] = new NeedValueToCalculateData(
gameObject.transform.position,
gameObject.transform.forward,
gameObject.transform.rotation
);
currentTime += deltaTime;
if (contactPointIndex < contactPoints.Length && currentTime >= contactPoints[contactPointIndex].startTime)
{
float buforDeltaTime = currentTime - contactPoints[contactPointIndex].startTime;
currentDeltaTime = deltaTime - buforDeltaTime;
playableGraph.EvaluateMotionMatchgData(data, currentDeltaTime);
cpPos[contactPointIndex] = gameObject.transform.TransformPoint(contactPoints[contactPointIndex].position);
cpNormals[contactPointIndex] = gameObject.transform.TransformDirection(contactPoints[contactPointIndex].contactNormal);
cpForwards[contactPointIndex] = gameObject.transform.forward;
contactPointIndex++;
playableGraph.EvaluateMotionMatchgData(data, buforDeltaTime);
currentDeltaTime = deltaTime;
}
else
{
playableGraph.EvaluateMotionMatchgData(data, currentDeltaTime);
}
}
// calcualationData
for (int i = 0; i < data.numberOfFrames; i++)
{
frameMatrix = Matrix4x4.TRS(
recordedData[i].position,
recordedData[i].rotation,
Vector3.one
);
FrameData currentFrame = data.frames[i];
currentFrame.contactPoints = new FrameContact[cpPos.Length];
for (int j = 0; j < cpPos.Length; j++)
{
Vector3 pos = frameMatrix.inverse.MultiplyPoint3x4(cpPos[j]);
Vector3 norDir = frameMatrix.inverse.MultiplyVector(cpNormals[j]);
Vector3 forw = frameMatrix.inverse.MultiplyVector(cpForwards[j]);
FrameContact cp = new FrameContact(
pos,
norDir
//forw
);
currentFrame.contactPoints[j] = cp;
}
data.frames[i] = currentFrame;
}
gameObject.transform.position = startPos;
gameObject.transform.rotation = startRot;
if (data.contactPoints.Count >= 2)
{
for (int i = 0; i < contactPoints.Length - 1; i++)
{
Vector3 firstPoint = data.GetContactPointInTime(i, data.contactPoints[i].startTime).position;
Vector3 secondPoint = data.GetContactPointInTime(i + 1, data.contactPoints[i].startTime).position;
Vector3 dir = secondPoint - firstPoint;
dir.y = 0;
MotionMatchingContact c = data.contactPoints[i];
c.rotationFromForwardToNextContactDir = Quaternion.FromToRotation(dir, Vector3.forward);
data.contactPoints[i] = c;
}
}
if (data.contactPoints.Count >= 2)
{
Vector3 firstPoint = data.GetContactPointInTime(0, data.contactPoints[0].startTime).position;
Vector3 secondPoint = data.GetContactPointInTime(1, data.contactPoints[0].startTime).position;
Vector3 dir = secondPoint - firstPoint;
dir.y = 0;
data.fromFirstToSecondContactRot = Quaternion.FromToRotation(
Vector3.ProjectOnPlane(dir, Vector3.up),
Vector3.forward
);
}
else
{
data.fromFirstToSecondContactRot = Quaternion.identity;
}
playableGraph.ClearMainMixerInput();
playableGraph.Destroy();
}
public static MotionMatchingData CalculateAnimationSequenceData(
string name,
AnimationsSequence seq,
GameObject go,
PreparingDataPlayableGraph graph,
List <Transform> bonesMask,
List <Vector2> bonesWeights,
int sampling,
bool loop,
Transform root,
List <float> trajectoryStepTimes,
bool blendToYourself,
bool findInYourself
)
{
if (!graph.IsValid())
{
graph.Initialize(go);
}
go.transform.position = Vector3.zero;
go.transform.rotation = Quaternion.identity;
seq.CalculateLength();
#region need floats
float frameTime = 1f / (float)sampling;
int numberOfFrames = Mathf.FloorToInt(seq.length / frameTime) + 1;
#endregion
MotionMatchingData data = new MotionMatchingData(
seq.clips.ToArray(),
seq.neededInfo.ToArray(),
sampling,
name,
loop,
seq.length,
findInYourself,
blendToYourself,
AnimationDataType.AnimationSequence
);
FrameData frameBuffer;
BoneData boneBuffer;
PoseData poseBuffor;
Trajectory trajectoryBuffor;
NeedValueToCalculateData[] previuData = new NeedValueToCalculateData[bonesMask.Count];
NeedValueToCalculateData[] nextData = new NeedValueToCalculateData[bonesMask.Count];
int seqDeltaSampling = 3;
//seq.CreatePlayableGraph(playableGraph, go);
//seq.Update(-frameTime, playableGraph, seqDeltaSampling);
seq.CreateAnimationsInTime(0f, graph);
graph.Evaluate(frameTime);
seq.Update(graph, frameTime);
int frameIndex = 0;
for (; frameIndex < numberOfFrames; frameIndex++)
{
for (int i = 0; i < bonesMask.Count; i++)
{
previuData[i] = GetValuesFromTransform(bonesMask[i], root);
}
graph.Evaluate(frameTime);
seq.Update(graph, frameTime);
//Debug.Log((float)animator.GetMixerInputTime(0) - clip.length);
for (int i = 0; i < bonesMask.Count; i++)
{
nextData[i] = GetValuesFromTransform(bonesMask[i], root);
}
poseBuffor = new PoseData(bonesMask.Count);
for (int i = 0; i < bonesMask.Count; i++)
{
float2 boneWeight = bonesWeights[i];
float3 velocity = BoneData.CalculateVelocity(previuData[i].position, nextData[i].position, frameTime);
float3 localPosition = previuData[i].position;
quaternion orientation = previuData[i].rotation;
boneBuffer = new BoneData(localPosition, velocity);
poseBuffor.SetBone(boneBuffer, i);
}
trajectoryBuffor = new Trajectory(trajectoryStepTimes.Count);
frameBuffer = new FrameData(
frameIndex,
frameIndex * frameTime,
trajectoryBuffor,
poseBuffor,
new FrameSections(true)
);
data.AddFrame(frameBuffer);
}
float clipGlobalStart;
Vector2 clipStartAndStop;
float recordingClipTime;
if (trajectoryStepTimes[0] < 0)
{
clipGlobalStart = trajectoryStepTimes[0];
clipStartAndStop = new Vector2(-clipGlobalStart, -clipGlobalStart + seq.length);
}
else
{
clipGlobalStart = 0;
clipStartAndStop = new Vector2(0, seq.length);
}
if (trajectoryStepTimes[trajectoryStepTimes.Count - 1] > 0)
{
recordingClipTime = clipStartAndStop.y + trajectoryStepTimes[trajectoryStepTimes.Count - 1] + 0.1f;
}
else
{
recordingClipTime = clipStartAndStop.y + 0.1f;
}
int samplesPerSecond = 100;
float deltaTime = 1f / (float)samplesPerSecond;
int dataCount = Mathf.CeilToInt(recordingClipTime / deltaTime);
NeedValueToCalculateData[] recordData = new NeedValueToCalculateData[dataCount];
go.transform.position = Vector3.zero;
go.transform.rotation = Quaternion.identity;
//seq.Update(clipGlobalStart, playableGraph);
graph.ClearMainMixerInput();
seq.CreateAnimationsInTime(clipGlobalStart, graph);
recordData[0] = new NeedValueToCalculateData(
go.transform.position,
go.transform.forward,
go.transform.rotation
);
for (int i = 0; i < dataCount; i++)
{
graph.Evaluate(deltaTime);
seq.Update(graph, deltaTime);
recordData[i] = new NeedValueToCalculateData(
go.transform.position,
go.transform.forward,
go.transform.rotation
);
}
//clearing graph from all animations
graph.ClearMainMixerInput();
MotionDataCalculator.CalculateTrajectoryPointsFromRecordData(
data,
recordData,
recordingClipTime,
deltaTime,
clipStartAndStop,
trajectoryStepTimes
);
data.usedFrameCount = data.numberOfFrames;
data.trajectoryPointsTimes = new List <float>();
for (int i = 0; i < trajectoryStepTimes.Count; i++)
{
data.trajectoryPointsTimes.Add(trajectoryStepTimes[i]);
}
return(data);
}
public static void CalculateTrajectoryPointsFromRecordData(
MotionMatchingData clip,
NeedValueToCalculateData[] recordData,
float recordDataLength,
float recordStep,
Vector2 startAndStopOfClip,
List <float> trajectoryStepTimes
)
{
Matrix4x4 frameMatrix;
int firstFrameIndex = Mathf.FloorToInt(startAndStopOfClip.x / recordStep);
//Debug.Log("first frame index "+firstFrameIndex);
for (int fIndex = 0; fIndex < clip.frames.Count; fIndex++)
{
int frameIndexInRecordData = firstFrameIndex + Mathf.FloorToInt(clip.frames[fIndex].localTime / recordStep);
frameMatrix = Matrix4x4.TRS(
recordData[frameIndexInRecordData].position,
recordData[frameIndexInRecordData].rotation,
Vector3.one
);
FrameData bufforFrame = clip.frames[fIndex];
// Debug.Log(frameIndexInRecordData);
for (int i = 0; i < trajectoryStepTimes.Count; i++)
{
int pointIndex = Mathf.FloorToInt(trajectoryStepTimes[i] / recordStep);
//Debug.Log(trajectoryStepTimes[i] + " / " + recordStep + " = " + pointIndex);
//Debug.Log(frameIndexInRecordData);
//Debug.Log(pointIndex);
//Debug.Log(frameIndexInRecordData + pointIndex + " < " + recordData.Length);
int recordDataIndex = frameIndexInRecordData + pointIndex;
recordDataIndex = recordDataIndex < 0 ? 0 : recordDataIndex;
NeedValueToCalculateData n = recordData[recordDataIndex];
Vector3 pointPos = frameMatrix.inverse.MultiplyPoint3x4(n.position);
Vector3 pointVel;
if (trajectoryStepTimes[i] < 0)
{
pointVel = frameMatrix.inverse.MultiplyVector(
(recordData[frameIndexInRecordData].position - n.position) / Mathf.Abs(trajectoryStepTimes[i])
);
}
else
{
pointVel = frameMatrix.inverse.MultiplyVector(
(n.position - recordData[frameIndexInRecordData].position) / Mathf.Abs(trajectoryStepTimes[i])
);
}
Vector3 pointOrientation = frameMatrix.inverse.MultiplyVector(n.orientation);
bufforFrame.trajectory.SetPoint(
new TrajectoryPoint(
pointPos,
pointVel,
pointOrientation
),
i
);
}
clip.frames[fIndex] = bufforFrame;
}
}
public static MotionMatchingData CalculateBlendTreeData(
string name,
GameObject go,
PreparingDataPlayableGraph graph,
AnimationClip[] clips,
List <Transform> bonesMask,
List <Vector2> bonesWeights,
Transform root,
List <float> trajectoryStepTimes,
float[] weightsForClips,
int sampling,
bool loop,
bool blendToYourself,
bool findInYourself
)
{
if (!graph.IsValid())
{
graph.Initialize(go);
}
go.transform.position = Vector3.zero;
go.transform.rotation = Quaternion.identity;
#region need floats
float frameTime = 1f / (float)sampling;
int numberOfFrames = Mathf.FloorToInt(clips[0].length / frameTime) + 1;
#endregion
float weightSum = 0f;
for (int i = 0; i < weightsForClips.Length; i++)
{
weightSum += weightsForClips[i];
}
for (int i = 0; i < weightsForClips.Length; i++)
{
weightsForClips[i] = weightsForClips[i] / weightSum;
}
MotionMatchingData data = new MotionMatchingData(
clips,
weightsForClips,
sampling,
name,
loop,
clips[0].length,
findInYourself,
blendToYourself,
AnimationDataType.BlendTree
);
FrameData frameBuffer;
BoneData boneBuffer;
PoseData poseBuffor;
Trajectory trajectoryBuffor;
NeedValueToCalculateData[] previewBoneData = new NeedValueToCalculateData[bonesMask.Count];
NeedValueToCalculateData[] nextBoneData = new NeedValueToCalculateData[bonesMask.Count];
for (int i = 0; i < clips.Length; i++)
{
graph.AddClipPlayable(clips[i]);
graph.SetMixerInputTime(i, 0f);
graph.SetMixerInputWeight(i, weightsForClips[i]);
}
graph.Evaluate(frameTime);
int frameIndex = 0;
float currentCheckingTime = 0f;
// FramesCalculation
for (; frameIndex < numberOfFrames; frameIndex++)
{
for (int i = 0; i < bonesMask.Count; i++)
{
previewBoneData[i] = GetValuesFromTransform(bonesMask[i], root);
}
graph.Evaluate(frameTime);
currentCheckingTime = frameIndex * frameTime;
for (int i = 0; i < bonesMask.Count; i++)
{
nextBoneData[i] = GetValuesFromTransform(bonesMask[i], root);
}
poseBuffor = new PoseData(bonesMask.Count);
for (int i = 0; i < bonesMask.Count; i++)
{
float2 boneWeight = bonesWeights[i];
float3 velocity = BoneData.CalculateVelocity(previewBoneData[i].position, nextBoneData[i].position, frameTime);
float3 localPosition = previewBoneData[i].position;
quaternion orientation = previewBoneData[i].rotation;
boneBuffer = new BoneData(localPosition, velocity);
poseBuffor.SetBone(boneBuffer, i);
}
trajectoryBuffor = new Trajectory(trajectoryStepTimes.Count);
frameBuffer = new FrameData(
frameIndex,
currentCheckingTime,
trajectoryBuffor,
poseBuffor,
new FrameSections(true)
);
data.AddFrame(frameBuffer);
}
// Trajectory calculations
float clipGlobalStart;
Vector2 clipStartAndStop;
float recordingClipTime;
if (trajectoryStepTimes[0] < 0)
{
clipGlobalStart = trajectoryStepTimes[0];
clipStartAndStop = new Vector2(-clipGlobalStart, -clipGlobalStart + clips[0].length);
}
else
{
clipGlobalStart = 0;
clipStartAndStop = new Vector2(0, clips[0].length);
}
if (trajectoryStepTimes[trajectoryStepTimes.Count - 1] > 0)
{
recordingClipTime = clipStartAndStop.y + trajectoryStepTimes[trajectoryStepTimes.Count - 1] + 0.1f;
}
else
{
recordingClipTime = clipStartAndStop.y + 0.1f;
}
int samplesPerSecond = 100;
float deltaTime = 1f / (float)samplesPerSecond;
int dataCount = Mathf.CeilToInt(recordingClipTime / deltaTime);
NeedValueToCalculateData[] recordData = new NeedValueToCalculateData[dataCount];
go.transform.position = Vector3.zero;
go.transform.rotation = Quaternion.identity;
for (int i = 0; i < graph.GetMixerInputCount(); i++)
{
graph.SetMixerInputTimeInPlace(i, clipGlobalStart);
}
recordData[0] = new NeedValueToCalculateData(
go.transform.position,
go.transform.forward,
go.transform.rotation
);
for (int i = 0; i < dataCount; i++)
{
graph.Evaluate(deltaTime);
recordData[i] = new NeedValueToCalculateData(
go.transform.position,
go.transform.forward,
go.transform.rotation
);
}
//clearing graph from all animations
graph.ClearMainMixerInput();
MotionDataCalculator.CalculateTrajectoryPointsFromRecordData(
data,
recordData,
recordingClipTime,
deltaTime,
clipStartAndStop,
trajectoryStepTimes
);
data.usedFrameCount = data.numberOfFrames;
data.trajectoryPointsTimes = new List <float>();
for (int i = 0; i < trajectoryStepTimes.Count; i++)
{
data.trajectoryPointsTimes.Add(trajectoryStepTimes[i]);
}
return(data);
}
