// Use this for initialization
public override void Init(AnimationAnalyzer animAnalyzer, NeighbourAgents neighborhood, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
storedPlan = new List <FootstepPlanningAction>();
outputPlan = new Stack <DefaultAction>();
domainList = new List <PlanningDomainBase>();
domainList.Add(new FootstepPlanningDomain(analyzer, neighborhood, obstacles));
planner = new ADAstarPlanner();
planner.init(ref domainList, MaxNumberOfNodes);
initialized = true;
currentState = null;
isPlanComputed = false;
planChanged = false;
goalMeshRenderer = goalStateTransform.gameObject.GetComponent("MeshRenderer") as MeshRenderer;
currentGoal = goalStateTransform.position;
}
//public void Init (AnimationAnalyzer animAnalyzer, AnimationEngine animEngine, FootstepPlanningTest planner,
public void Init(AnimationAnalyzer animAnalyzer, AnimationEngine animEngine, Planner planner,
NeighbourAgents agents, NeighbourObstacles obstacles, CollisionReaction colReact)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
engine = animEngine;
if (engine != null && !engine.initialized)
{
engine.Init(analyzer, planning, agents, obstacles);
}
collision = colReact;
if (collision != null && !collision.initialized)
{
collision.Init(analyzer, planning, engine, agents, obstacles);
}
if (debugText != null)
{
debugText.gameObject.active = false;
}
initialized = true;
}
//public void Init(AnimationAnalyzer analyzer, FootstepPlanningTest planner,
public void Init(AnimationAnalyzer analyzer, Planner planner,
AnimationEngine animEngine, CollisionReaction collisionReact,
NavMeshWayPoints navMeshWaypoints, SteeringManager steering,
NeighbourAgents agents, NeighbourObstacles obstacles,
PlaceFootSteps steps)
{
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
engine = animEngine;
if (engine != null && !engine.initialized)
{
engine.Init(analyzer, planning, agents, obstacles);
}
collision = collisionReact;
if (collision != null && !collision.initialized)
{
collision.Init(analyzer, planner, engine, agents, obstacles);
}
waypoints = navMeshWaypoints;
//if (waypoints != null && !waypoints.initialized)
// waypoints.Init(planning,steering,analyzer,agents,obstacles);
neighborhood = agents;
if (neighborhood != null && !neighborhood.initialized)
{
neighborhood.Init();
}
footsteps = steps;
if (footsteps != null && !footsteps.initiated)
{
footsteps.Init(analyzer, planner, engine, neighborhood, obstacles);
}
nObstacles = obstacles;
if (nObstacles != null && !nObstacles.initialized)
{
nObstacles.Init();
}
timeSinceLastPlan = 0;
timeSinceLastWaypoints = 0;
previousGoalPosition = planning.goalStateTransform.position;
previousCurrentGoalPosition = planning.currentGoal;
previousActionsSinceLastPlan = -1;
newWaypoint = false;
initialized = true;
}
private void FillArray(ref float[] array, float value, int startIndex, int endIndex)
{
float length = (startIndex < endIndex) ? (endIndex - startIndex) : endIndex + (_sampleNumber - 1) - startIndex;
for (var i = startIndex; i <= (startIndex + length); i++)
{
var index = (int)AnimationAnalyzer.Mod(i, _sampleNumber);
array[index] = value;
}
}
public GridPlanningDomain(AnimationAnalyzer animAnalyzer)
{
analyzer = animAnalyzer;
Vector3 dir1 = new Vector3(1, 0, 0);
Vector3 dir2 = new Vector3(-1, 0, 0);
Vector3 dir3 = new Vector3(0, 0, 1);
Vector3 dir4 = new Vector3(0, 0, -1);
Vector3 dir5 = new Vector3(-1, 0, -1);
dir5.Normalize();
Vector3 dir6 = new Vector3(-1, 0, 1);
dir6.Normalize();
Vector3 dir7 = new Vector3(1, 0, -1);
dir7.Normalize();
Vector3 dir8 = new Vector3(1, 0, 1);
dir8.Normalize();
movDirections = new List <Vector3>();
/*
* if (analyzer != null)
* {
* movDirections.Add(dir1*analyzer.meanStepSize);
* movDirections.Add(dir2*analyzer.meanStepSize);
* movDirections.Add(dir3*analyzer.meanStepSize);
* movDirections.Add(dir4*analyzer.meanStepSize);
*
*
* movDirections.Add(dir5*analyzer.meanStepSize);
* movDirections.Add(dir6*analyzer.meanStepSize);
* movDirections.Add(dir7*analyzer.meanStepSize);
* movDirections.Add(dir8*analyzer.meanStepSize);
* }
* else
*/
{
float meanStepSize = 1.0f;
movDirections.Add(dir1 * meanStepSize);
movDirections.Add(dir2 * meanStepSize);
movDirections.Add(dir3 * meanStepSize);
movDirections.Add(dir4 * meanStepSize);
movDirections.Add(dir5 * meanStepSize);
movDirections.Add(dir6 * meanStepSize);
movDirections.Add(dir7 * meanStepSize);
movDirections.Add(dir8 * meanStepSize);
}
}
// Use this for initialization
//public void Init (FootstepPlanningTest planner, SteeringManager steeringManager, AnimationAnalyzer analyzer, NeighbourAgents agents, NeighbourObstacles obstacles, RootMotionComputer computer) {
public void Init(Planner planner, SteeringManager steeringManager, AnimationAnalyzer analyzer, NeighbourAgents agents, NeighbourObstacles obstacles)
{
steering = steeringManager;
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer, agents, obstacles);
navMeshLayer = 1 << LayerMask.NameToLayer("StaticWorld");
initialized = true;
}
// Use this for initialization
public override void Init(AnimationAnalyzer animAnalyzer, NeighbourAgents neighborhood, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
storedPlan = new List <FootstepPlanningAction>();
outputPlan = new Stack <DefaultAction>();
domainList = new List <PlanningDomainBase>();
gpd = new GridPlanningDomain(analyzer);
//gtd = new GridTimeDomain(analyzer, obstacles);
gtd = new GridTimeDomain(obstacles, neighborhood);
fpd = new FootstepPlanningDomain(analyzer, neighborhood, obstacles);
if (useGridDomain)
{
domainList.Add(gpd);
//domainList.Add(gpd);
}
if (useGridTimeDomain)
{
domainList.Add(gtd);
//domainList.Add(gtd);
}
if (useFootstepDomain)
{
domainList.Add(fpd);
//domainList.Add(fpd);
}
planner = new BestFirstSearchPlanner();
planner.init(ref domainList, MaxNumberOfNodes);
initialized = true;
currentState = null;
isPlanComputed = false;
planChanged = false;
goalMeshRenderer = goalStateTransform.gameObject.GetComponent("MeshRenderer") as MeshRenderer;
currentGoal = goalStateTransform.position;
goalReached = false;
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, RootMotionComputer computer, NeighbourAgents agents, NeighbourObstacles obstacles){
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
foreach (AnimationState state in animation)
{
state.enabled = true;
state.speed = 1.0f;
state.wrapMode = WrapMode.Loop;
state.weight = 0;
}
currentAnimation = null;
action = null;
animation.Stop();
initialized = true;
actionNum = 0;
changed = false;
errorT = new Vector3(0, 0, 0);
errorR = 0;
currentBlendingTime = 0;
currentActionTime = 0;
previousBlendingTime = 0;
currentActionEndTime = 0;
actionsSinceLastPlan = 0;
insertedAction = false;
initGameObjectPos = transform.position;
initGameObjectRotY = transform.eulerAngles.y;
initLocalRootPos = root.localPosition;
lastRootPos = root.position;
lastRootRot = root.rotation;
}
// Use this for initialization
//public void Init (FootstepPlanningTest planner, SteeringManager steeringManager, AnimationAnalyzer analyzer, NeighbourAgents agents, NeighbourObstacles obstacles, RootMotionComputer computer) {
public void Init(Planner planner, SteeringManager steeringManager, AnimationAnalyzer analyzer, NeighbourAgents agents, NeighbourObstacles obstacles)
{
steering = steeringManager;
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
navMeshLayer = 1 << LayerMask.NameToLayer("StaticWorld");
initialized = true;
}
public GridPlanningDomain(AnimationAnalyzer animAnalyzer)
{
analyzer = animAnalyzer;
Vector3 dir1 = new Vector3(1,0,0);
Vector3 dir2 = new Vector3(-1,0,0);
Vector3 dir3 = new Vector3(0,0,1);
Vector3 dir4 = new Vector3(0,0,-1);
Vector3 dir5 = new Vector3(-1,0,-1);
dir5.Normalize();
Vector3 dir6 = new Vector3(-1,0,1);
dir6.Normalize();
Vector3 dir7 = new Vector3(1,0,-1);
dir7.Normalize();
Vector3 dir8 = new Vector3(1,0,1);
dir8.Normalize();
movDirections = new List<Vector3>();
/*
if (analyzer != null)
{
movDirections.Add(dir1*analyzer.meanStepSize);
movDirections.Add(dir2*analyzer.meanStepSize);
movDirections.Add(dir3*analyzer.meanStepSize);
movDirections.Add(dir4*analyzer.meanStepSize);
movDirections.Add(dir5*analyzer.meanStepSize);
movDirections.Add(dir6*analyzer.meanStepSize);
movDirections.Add(dir7*analyzer.meanStepSize);
movDirections.Add(dir8*analyzer.meanStepSize);
}
else
*/
{
float meanStepSize = 1.0f;
movDirections.Add(dir1*meanStepSize);
movDirections.Add(dir2*meanStepSize);
movDirections.Add(dir3*meanStepSize);
movDirections.Add(dir4*meanStepSize);
movDirections.Add(dir5*meanStepSize);
movDirections.Add(dir6*meanStepSize);
movDirections.Add(dir7*meanStepSize);
movDirections.Add(dir8*meanStepSize);
}
}
public void ComputeRootMotion()
{
if (currentAnimation == null || action == null)
{
//Debug.Log("something is wrong at time " + Time.time );
return;
}
AnimationState anim = currentAnimation;
Vector3 displacement = Vector3.zero;
float rotY = 0;
float currentTime = anim.normalizedTime;
CompleteAnimationCurve animCurve = action.animInfo.RootCurve;
displacement.x = animCurve.xPos.Evaluate(currentTime);
displacement.y = animCurve.yPos.Evaluate(currentTime);
displacement.z = animCurve.zPos.Evaluate(currentTime);
rotY = animCurve.yRot.Evaluate(currentTime);
transform.position = initGameObjectPos;
transform.rotation = Quaternion.Euler(0, initGameObjectRotY, 0);
displacement = transform.rotation * displacement;
transform.Translate(displacement, Space.World);
transform.Rotate(new Vector3(0, rotY, 0));
Vector3 forwardProj = new Vector3(-root.right.x, 0, -root.right.z);
Vector3 zVector = new Vector3(0, 0, 1);
float newRotY = AnimationAnalyzer.CalculateAngleOf2Vectors(zVector, forwardProj);
root.RotateAround(transform.position, Vector3.up, -newRotY + initGameObjectRotY + rotY);
root.localPosition = initLocalRootPos;
/****/
xPos = animCurve.xPos;
yPos = animCurve.yPos;
zPos = animCurve.zPos;
yRot = animCurve.yRot;
/****/
}
void LateUpdate()
{
AnimationState anim = currentAnimState;
Vector3 displacement = Vector3.zero;
float rotY = 0;
float currentTime = anim.normalizedTime;
RootCurve animCurve = animationCurves[anim.name];
displacement.x = animCurve.xPos.Evaluate(currentTime);
displacement.y = animCurve.yPos.Evaluate(currentTime);
displacement.z = animCurve.zPos.Evaluate(currentTime);
rotY = animCurve.yRot.Evaluate(currentTime);
if (changed)
{
prevEndPos = transform.position;
prevEndRot = transform.eulerAngles.y;
}
transform.position = prevEndPos;
transform.rotation = Quaternion.Euler(0, prevEndRot, 0);
displacement = transform.rotation * displacement;
transform.Translate(displacement, Space.World);
transform.Rotate(new Vector3(0, rotY, 0));
Vector3 forwardProj = new Vector3(-root.right.x, 0, -root.right.z);
Vector3 zVector = new Vector3(0, 0, 1);
float newRotY = AnimationAnalyzer.CalculateAngleOf2Vectors(zVector, forwardProj);
root.RotateAround(transform.position, Vector3.up, -newRotY + prevEndRot + rotY);
root.localPosition = initRootLocalPos;
xPos = animCurve.xPos;
yPos = animCurve.yPos;
zPos = animCurve.zPos;
yRot = animCurve.yRot;
}
public void AnalyzeAnimations(int sampleNumber, float velocityTh, int smoothingTh)
{
LoadAnimationClips();
foreach (var clip in _clipList)
{
if (!clip.isHumanMotion)
{
errorList.Add(clip);
continue;
}
var animationAnalyzer = new AnimationAnalyzer(clip, sampleNumber);
animationAnalyzer.AnalyzeAnimation(velocityTh, smoothingTh);
}
}
// Use this for initialization
void Start()
{
//AnimationAnalyzer analyzer = agent.GetComponent("AnimationAnalyzer") as AnimationAnalyzer;
if (analyzer == null)
{
analyzer = agent.GetComponent("AnimationAnalyzer") as AnimationAnalyzer;
if (analyzer != null)
{
analyzer.Init();
}
animationNames = analyzer.animationNames;
}
currentAnimationIndex = 0;
}
//public void Init(AnimationAnalyzer analyzer, FootstepPlanningTest planner,
public void Init(AnimationAnalyzer analyzer, Planner planner,
AnimationEngine animEngine, CollisionReaction collisionReact,
NavMeshWayPoints navMeshWaypoints, SteeringManager steering,
NeighbourAgents agents, NeighbourObstacles obstacles,
PlaceFootSteps steps)
{
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer,agents,obstacles);
engine = animEngine;
if (engine != null && !engine.initialized)
engine.Init(analyzer,planning,agents,obstacles);
collision = collisionReact;
if (collision != null && !collision.initialized)
collision.Init(analyzer,planner,engine,agents,obstacles);
waypoints = navMeshWaypoints;
//if (waypoints != null && !waypoints.initialized)
// waypoints.Init(planning,steering,analyzer,agents,obstacles);
neighborhood = agents;
if (neighborhood != null && !neighborhood.initialized)
neighborhood.Init();
footsteps = steps;
if (footsteps != null && !footsteps.initiated)
footsteps.Init(analyzer,planner,engine,neighborhood,obstacles);
nObstacles = obstacles;
if (nObstacles != null && !nObstacles.initialized)
nObstacles.Init();
timeSinceLastPlan = 0;
timeSinceLastWaypoints = 0;
previousGoalPosition = planning.goalStateTransform.position;
previousCurrentGoalPosition = planning.currentGoal;
previousActionsSinceLastPlan = -1;
newWaypoint = false;
initialized = true;
}
private int[] SmoothGroundTimes(int[] groundedTimes)
{
var correctedTimes = groundedTimes;
for (int i = 0; i < groundedTimes.Length; i++)
{
var a = groundedTimes[i];
var b = groundedTimes[(int)AnimationAnalyzer.Mod((i - 1), _sampleNumber)];
var c = groundedTimes[(int)AnimationAnalyzer.Mod((i + 1), _sampleNumber)];
if (a != b && a != c)
{
correctedTimes[i] = c;
}
}
return(correctedTimes);
}
void Awake()
{
analyzer = null;
animationNames = null;
currentAnimationName = null;
currentAnimationIndex = 0;
currentAnimation = null;
currentActionTime = 0;
currentBlendingTime = 0;
previousBlendingTime = 0;
changed = false;
stored = false;
}
void Awake()
{
analyzer = null;
animationNames = null;
currentAnimationName = null;
currentAnimationIndex = 0;
currentAnimation = null;
currentActionTime = 0;
currentBlendingTime = 0;
previousBlendingTime = 0;
changed = false;
stored = false;
}
//public void Init (AnimationAnalyzer animAnalyzer, AnimationEngine animEngine, FootstepPlanningTest planner,
public void Init(AnimationAnalyzer animAnalyzer, AnimationEngine animEngine, Planner planner,
NeighbourAgents agents, NeighbourObstacles obstacles, CollisionReaction colReact)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer, agents, obstacles);
engine = animEngine;
if (engine != null && !engine.initialized)
engine.Init(analyzer,planning,agents,obstacles);
collision = colReact;
if (collision != null && !collision.initialized)
collision.Init(analyzer,planning,engine,agents,obstacles);
if (debugText != null)
debugText.gameObject.active = false;
initialized = true;
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, AnimationEngine animEngine,
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, AnimationEngine animEngine,
NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
engine = animEngine;
if (engine != null && !engine.initialized)
{
engine.Init(analyzer, planning, agents, obstacles);
}
if (rightFoot.position[1] < leftFoot.position[1])
{
auxHeight = rightFoot.position[1];
}
else
{
auxHeight = leftFoot.position[1];
}
counter = 0;
footSteps = new Object[numberOfFootSteps];
initiated = true;
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, AnimationEngine animEngine, NeighbourAgents agents, NeighbourObstacles obstacles)
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, AnimationEngine animEngine, NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
engine = animEngine;
if (engine != null && !engine.initialized)
{
engine.Init(analyzer, planning, agents, obstacles);
}
reacting = false;
initialized = true;
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, AnimationEngine animEngine,
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, AnimationEngine animEngine,
NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer, agents, obstacles);
engine = animEngine;
if (engine != null && !engine.initialized)
engine.Init(analyzer,planning,agents,obstacles);
if (rightFoot.position[1] < leftFoot.position[1])
auxHeight = rightFoot.position[1];
else
auxHeight = leftFoot.position[1];
counter = 0;
footSteps = new Object[numberOfFootSteps];
initiated = true;
}
// Use this for initialization
void Start()
{
//AnimationAnalyzer analyzer = agent.GetComponent("AnimationAnalyzer") as AnimationAnalyzer;
if (analyzer == null)
{
analyzer = agent.GetComponent("AnimationAnalyzer") as AnimationAnalyzer;
if (analyzer != null)
analyzer.Init();
animationNames = analyzer.animationNames;
}
currentAnimationIndex = 0;
}
// Use this for initialization
void InitAgent(int i)
{
AnimationAnalyzer analyzer = null;
// Initialize different components of the agents
// ( Animation Engine, Planner, Neighbors, ...)
//foreach (GameObject agent in agents)
//for(int i = 0; i < agents.Length; i++)
{
GameObject agent = agents[i];
//agent.active = true;
agent.transform.position = agentsPos[i];
//if (analyzer == null)
{
analyzer = agent.GetComponent("AnimationAnalyzer") as AnimationAnalyzer;
if (analyzer != null)
{
analyzer.Init();
//analyzer.ReadAnalysisFromFile(animationsFileName);
}
}
/*
* else
* {
* Vector3 startPos = agent.transform.position;
* Quaternion startRot = agent.transform.rotation;
* analyzer.RemoveAnimations(agent.animation);
* agent.transform.position = startPos;
* agent.transform.rotation = startRot;
* }
*/
NeighbourAgents neighbourAgents = agent.GetComponent("NeighbourAgents") as NeighbourAgents;
//if (neighbourAgents != null)
// neighbourAgents.Init();
NeighbourObstacles neighbourObstacles = agent.GetComponent("NeighbourObstacles") as NeighbourObstacles;
//if (neighbourObstacles != null)
// neighbourObstacles.Init();
Planner planning;
if (ADAFootstepTest.ADA_PLANNER_IN_USE)
{
ADAFootstepTest ADAplanning = agent.GetComponent("ADAFootstepTest") as ADAFootstepTest;
planning = ADAplanning as Planner;
}
else
{
FootstepPlanningTest FPTplanning = agent.GetComponent("FootstepPlanningTest") as FootstepPlanningTest;
planning = FPTplanning as Planner;
}
if (planning != null)
{
planning.Init(analyzer, neighbourAgents, neighbourObstacles);
}
AnimationEngine engine = agent.GetComponent("AnimationEngine") as AnimationEngine;
if (engine != null)
{
engine.Init(analyzer, planning, neighbourAgents, neighbourObstacles);
}
CollisionReaction collider = agent.GetComponent("CollisionReaction") as CollisionReaction;
if (collider != null)
{
collider.Init(analyzer, planning, engine, neighbourAgents, neighbourObstacles);
}
NavMeshWayPoints waypoints = agent.GetComponent("NavMeshWayPoints") as NavMeshWayPoints;
if (waypoints != null)
{
waypoints.Init(planning, steering, analyzer, neighbourAgents, neighbourObstacles);
}
PlaceFootSteps footsteps = agent.GetComponent("PlaceFootSteps") as PlaceFootSteps;
if (footsteps != null)
{
footsteps.Init(analyzer, planning, engine, neighbourAgents, neighbourObstacles);
}
EventsMonitor events = agent.GetComponent("EventsMonitor") as EventsMonitor;
if (events != null)
{
events.Init(analyzer, planning, engine, collider, waypoints, steering, neighbourAgents, neighbourObstacles, footsteps);
events.enabled = false;
}
DebugScript debug = agent.GetComponent("DebugScript") as DebugScript;
if (debug != null)
{
debug.Init(analyzer, engine, planning, neighbourAgents, neighbourObstacles, collider);
}
if (analyzer != null)
{
analyzer.RemoveAnimations(agent.animation);
}
}
}
public FootstepPlanningDomain(AnimationAnalyzer animAnalyzer, NeighbourAgents n, NeighbourObstacles o)
{
analyzer = animAnalyzer;
neighborhood = n;
obstacles = o;
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, AnimationEngine animEngine, NeighbourAgents agents, NeighbourObstacles obstacles)
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, AnimationEngine animEngine,NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer, agents, obstacles);
engine = animEngine;
if (engine != null && !engine.initialized)
engine.Init(analyzer,planning, agents, obstacles);
reacting = false;
initialized = true;
}
private (float[] f, float[] x, float[] z, float[] s) GenerateFlightTimes(int[] groundedTimes, Vector3[] inPlacePos, Vector3[] position)
{
var flightTimes = new float[_sampleNumber];
float[] x = new float[_sampleNumber];
float[] z = new float[_sampleNumber];
//TODO: refactor this method
//stride test
float[] s = new float[_sampleNumber];
//test
List <int> strikeList = new List <int>();
List <float> flightList = new List <float>();
List <float> xList = new List <float>();
List <float> zList = new List <float>();
List <float> strideList = new List <float>();
var endTime = _clip.length;
float flightTime;
bool isIdle = true;
for (var i = 1; i < groundedTimes.Length; i++)
{
if (groundedTimes[i] != groundedTimes[i - 1])
{
isIdle = false;
if (groundedTimes[i] == 0)
{
var liftTime = _timeSample[i];
int liftIndex = i;
var j = i;
while (groundedTimes[(int)AnimationAnalyzer.Mod(j, _sampleNumber)] == 0)
{
j++;
}
int strikeIndex = (int)AnimationAnalyzer.Mod(j + 1, _sampleNumber);
var strikeTime = _timeSample[strikeIndex];
flightTime = (liftTime < strikeTime) ? (strikeTime - liftTime) :
(strikeTime + endTime - liftTime);
Vector3 startPos = position[liftIndex];
Vector3 endPos = position[strikeIndex];
Vector3 displacement = inPlacePos[strikeIndex];
//stridelength test
float strideLength;
if (strikeTime < liftTime)
{
Vector3 finalPos = position[_sampleNumber - 1];
Vector3 initialPos = position[0];
float d1 = Vector3.Distance(finalPos, startPos);
float d2 = Vector3.Distance(initialPos, endPos);
strideLength = d1 + d2;
}
else
{
strideLength = Vector3.Distance(endPos, startPos);
}
strikeList.Add(strikeIndex);
flightList.Add(flightTime);
xList.Add(displacement.x);
zList.Add(displacement.z);
strideList.Add(strideLength);
if (_clip.name == "PIK_Walk")
{
Debug.Log(displacement.z);
}
}
}
}
for (var i = 0; i < strikeList.Count; i++)
{
var currentFlight = flightList[i];
var prevStrike = strikeList[(int)AnimationAnalyzer.Mod((i - 1), strikeList.Count)];
var currentStrike = strikeList[i];
var currentX = xList[i];
var currentZ = zList[i];
var strideLength = strideList[i];
FillArray(ref x, currentX, prevStrike, currentStrike);
FillArray(ref z, currentZ, prevStrike, currentStrike);
FillArray(ref flightTimes, currentFlight, prevStrike, currentStrike);
FillArray(ref s, strideLength, prevStrike, currentStrike);
}
if (isIdle)
{
Vector3 displacement = inPlacePos[0];
FillArray(ref x, displacement.x, 0, _sampleNumber - 1);
FillArray(ref z, displacement.z, 0, _sampleNumber - 1);
FillArray(ref s, 0, 0, _sampleNumber - 1);
}
return(flightTimes, x, z, s);
}
public FootstepPlanningDomain(AnimationAnalyzer animAnalyzer, NeighbourAgents n, NeighbourObstacles o)
{
analyzer = animAnalyzer;
neighborhood = n;
obstacles = o;
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, RootMotionComputer computer, NeighbourAgents agents, NeighbourObstacles obstacles){
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer,agents,obstacles);
foreach (AnimationState state in animation)
{
state.enabled = true;
state.speed = 1.0f;
state.wrapMode = WrapMode.Loop;
state.weight = 0;
}
currentAnimation = null;
action = null;
animation.Stop();
initialized = true;
actionNum = 0;
changed = false;
errorT = new Vector3(0,0,0);
errorR = 0;
currentBlendingTime = 0;
currentActionTime = 0;
previousBlendingTime = 0;
currentActionEndTime = 0;
actionsSinceLastPlan = 0;
insertedAction = false;
initGameObjectPos = transform.position;
initGameObjectRotY = transform.eulerAngles.y;
initLocalRootPos = root.localPosition;
lastRootPos = root.position;
lastRootRot = root.rotation;
}
// Use this for initialization
void Start()
{
animationCurves = new SerializableDictionary <string, RootCurve>();
Vector3 initPos = transform.position;
Quaternion initRot = transform.rotation;
initRootLocalPos = root.localPosition;
Vector3 originalRootPos = root.position;
Quaternion originalRootRot = root.rotation;
Vector3 prevEndPos = transform.position;
for (int i = 0; i < animationNames.Length; i++)
{
RootCurve animCurve;
animCurve.xPos = new AnimationCurve();
animCurve.yPos = new AnimationCurve();
animCurve.zPos = new AnimationCurve();
animCurve.yRot = new AnimationCurve();
float initYRot = 0;
transform.position = Vector3.zero;
transform.rotation = Quaternion.identity;
AnimationState anim = animation[animationNames[i]];
anim.enabled = true;
anim.wrapMode = WrapMode.Loop;
Vector3 initRootPos = root.position;
// For every sample we want
for (int s = 0; s < samples; s++)
{
// Sample the Animation until the end of our action
anim.normalizedTime = s * time / (samples - 1);
animation.Play(anim.name);
animation.Sample();
if (s == 0)
{
initRootPos = root.position;
Vector3 initForwardProj = new Vector3(-root.right.x, 0, -root.right.z);
Vector3 initZVector = new Vector3(0, 0, 1);
initYRot = AnimationAnalyzer.CalculateAngleOf2Vectors(initZVector, initForwardProj);
}
Vector3 rootDisplacement = root.position - initRootPos;
animCurve.xPos.AddKey(s * time / (samples - 1), rootDisplacement.x);
if (s == samples - 1)
{
animCurve.yPos.AddKey(s * time / (samples - 1), 0);
}
else
{
animCurve.yPos.AddKey(s * time / (samples - 1), rootDisplacement.y);
}
animCurve.zPos.AddKey(s * time / (samples - 1), rootDisplacement.z);
Vector3 forwardProj = new Vector3(-root.right.x, 0, -root.right.z);
Vector3 zVector = new Vector3(0, 0, 1);
float yRot = AnimationAnalyzer.CalculateAngleOf2Vectors(zVector, forwardProj) - initYRot;
animCurve.yRot.AddKey(s * time / (samples - 1), yRot);
}
animCurve.xPos.postWrapMode = WrapMode.Clamp;
animCurve.xPos.preWrapMode = WrapMode.Clamp;
animCurve.yPos.postWrapMode = WrapMode.Clamp;
animCurve.yPos.preWrapMode = WrapMode.Clamp;
animCurve.zPos.postWrapMode = WrapMode.Clamp;
animCurve.zPos.preWrapMode = WrapMode.Clamp;
animCurve.yRot.postWrapMode = WrapMode.Clamp;
animCurve.yRot.preWrapMode = WrapMode.Clamp;
animationCurves.Add(animationNames[i], animCurve);
// We remove the animation
anim.normalizedTime = 0.0f;
anim.enabled = false;
animation.Stop();
animation.Sample();
}
root.rotation = originalRootRot;
root.position = originalRootPos;
transform.position = initPos;
transform.rotation = initRot;
currentAnimState = null;
currentAnimIndex = -1;
Vector3 position = transform.position;
Quaternion rot = transform.rotation;
for (int i = 0; i < animationNames.Length; i++)
{
Vector3 displacement = Vector3.zero;
float rotY = 0;
float currentTime = time;
RootCurve animCurve = animationCurves[animationNames[i]];
displacement.x = animCurve.xPos.Evaluate(currentTime);
displacement.y = animCurve.yPos.Evaluate(currentTime);
displacement.z = animCurve.zPos.Evaluate(currentTime);
rotY = animCurve.yRot.Evaluate(currentTime);
position += rot * displacement;
Quaternion rotation = Quaternion.Euler(0, rotY, 0);
rot = rotation * rot;
Instantiate(rootRepresentation, position, Quaternion.identity);
}
Destroy(rootRepresentation);
changed = false;
}
public virtual void Init(AnimationAnalyzer aa, NeighbourAgents na, NeighbourObstacles no)
{
}
// Use this for initialization
public override void Init(AnimationAnalyzer animAnalyzer, NeighbourAgents neighborhood, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
storedPlan = new List<FootstepPlanningAction>();
outputPlan = new Stack<DefaultAction>();
domainList = new List<PlanningDomainBase>();
domainList.Add(new FootstepPlanningDomain(analyzer, neighborhood, obstacles));
planner = new ADAstarPlanner();
planner.init(ref domainList, MaxNumberOfNodes);
initialized = true;
currentState = null;
isPlanComputed = false;
planChanged = false;
goalMeshRenderer = goalStateTransform.gameObject.GetComponent("MeshRenderer") as MeshRenderer;
currentGoal = goalStateTransform.position;
}
// Use this for initialization
public override void Init(AnimationAnalyzer animAnalyzer, NeighbourAgents neighborhood, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
storedPlan = new List<FootstepPlanningAction>();
outputPlan = new Stack<DefaultAction>();
domainList = new List<PlanningDomainBase>();
gpd = new GridPlanningDomain(analyzer);
//gtd = new GridTimeDomain(analyzer, obstacles);
gtd = new GridTimeDomain(obstacles,neighborhood);
fpd = new FootstepPlanningDomain(analyzer, neighborhood, obstacles);
if (useGridDomain)
{
domainList.Add(gpd);
//domainList.Add(gpd);
}
if (useGridTimeDomain)
{
domainList.Add(gtd);
//domainList.Add(gtd);
}
if (useFootstepDomain)
{
domainList.Add(fpd);
//domainList.Add(fpd);
}
planner = new BestFirstSearchPlanner();
planner.init(ref domainList, MaxNumberOfNodes);
initialized = true;
currentState = null;
isPlanComputed = false;
planChanged = false;
goalMeshRenderer = goalStateTransform.gameObject.GetComponent("MeshRenderer") as MeshRenderer;
currentGoal = goalStateTransform.position;
goalReached = false;
}
