public InverseKinematicsPerformanceDemo()
{
var figureDir = UnpackedArchiveDirectory.Make(new System.IO.DirectoryInfo("work/figures/genesis-3-female"));
var channelSystemRecipe = Persistance.Load <ChannelSystemRecipe>(figureDir.File("channel-system-recipe.dat"));
channelSystem = channelSystemRecipe.Bake(null);
var boneSystemRecipe = Persistance.Load <BoneSystemRecipe>(figureDir.File("bone-system-recipe.dat"));
boneSystem = boneSystemRecipe.Bake(channelSystem.ChannelsByName);
var inverterParameters = Persistance.Load <InverterParameters>(figureDir.File("inverter-parameters.dat"));
rigidBoneSystem = new RigidBoneSystem(boneSystem);
goalProvider = new DemoInverseKinematicsGoalProvider(rigidBoneSystem);
solver = new HarmonicInverseKinematicsSolver(rigidBoneSystem, inverterParameters.BoneAttributes);
var pose = Persistance.Load <List <Pose> >(figureDir.File("animations/idle.dat"))[0];
var channelInputs = channelSystem.MakeDefaultChannelInputs();
new Poser(channelSystem, boneSystem).Apply(channelInputs, pose, DualQuaternion.Identity);
var channelOutputs = channelSystem.Evaluate(null, channelInputs);
rigidBoneSystem.Synchronize(channelOutputs);
initialInputs = rigidBoneSystem.ReadInputs(channelOutputs);
}
public InverseKinematicsAnimator(ControllerManager controllerManager, FigureDefinition definition, InverterParameters inverterParameters)
{
channelSystem = definition.ChannelSystem;
boneSystem = new RigidBoneSystem(definition.BoneSystem);
goalProvider = new InverseKinematicsUserInterface(controllerManager, channelSystem, boneSystem, inverterParameters);
//goalProvider = new DemoInverseKinematicsGoalProvider(boneSystem);
solver = new HarmonicInverseKinematicsSolver(boneSystem, inverterParameters.BoneAttributes);
poseDeltas = boneSystem.MakeZeroInputs();
Reset();
}
