private float RotationCost(MotionJointPoint frameBone, MotionJointPoint currentBone)
{
var bonePosRotation = Quaternion.Inverse(frameBone.LocalRotation) * currentBone.LocalRotation;
var rotationCost = Mathf.Abs(bonePosRotation.x) + Mathf.Abs(bonePosRotation.x)
+ Mathf.Abs(bonePosRotation.y) + (1 - Mathf.Abs(bonePosRotation.w));
return(rotationCost);
}
//frameBone is the bone we look at, which is from animation clips
private float BoneCost(MotionJointPoint frameBone, MotionJointPoint currentBone,
PlayerSetting playerSetting)
{
var rotationCost = RotationCost(frameBone, currentBone);
var posCost = PosCost(frameBone, currentBone);
return(playerSetting.BoneRotFactor * rotationCost + playerSetting.BonePosFactor * posCost);
}
private MotionJointPoint MakeMotionJoint(AnimationJointPoint current, AnimationJointPoint last)
{
var motionJointPoint = new MotionJointPoint {
LocalPosition = current.Position,
LocalRotation = current.Rotation,
Rotation = current.Rotation,
Name = current.Name,
Position = current.Position,
Velocity = current.Position - last.Position
};
return(motionJointPoint);
}
private void ApplyJointPointToJoint(MotionJointPoint jointPoint, Transform joint)
{
// Based on negative joint
var newEulerRot = jointPoint.Rotation * Quaternion.Inverse(jointPoint.BaseRotation);
//var newEulerRot = jointPoint.Rotation * jointPoint.BaseRotation;
//joint.rotation = newEulerRot;
joint.rotation = Skeleton.rotation * jointPoint.LocalRotation;
//joint.rotation = Skeleton.rotation * (newEulerRot);
joint.position = Skeleton.position + jointPoint.Position;
//joint.SetPositionAndRotation(jointPoint.Position, jointPoint.Rotation);
}
private float PosCost(MotionJointPoint frameBone, MotionJointPoint currentBone)
{
var posCost = (frameBone.LocalPosition - currentBone.LocalPosition).sqrMagnitude;
return(posCost);
}
