private IEnumerator UpdateCoroutine()
{
// Update MovementComponent
_mc.Update();
// Add Point to Trajectory, removing the oldest point
if (_currentFrame % FramesPerPoint == 0)
{
this._trajectory.points.Add(
new Trajectory.Point(
new Vector2(this._model.position.x, this._model.position.z),
this._model.rotation
)
);
this._trajectory.points.RemoveAt(0);
// Reset current Frame
_currentFrame = 0;
}
_currentFrame++;
// Load new Animation.Clip
if (_ac.IsOver())
{
// Find and load next Animation.Clip
Trajectory.Snippet snippet = GetCurrentSnippet();
_ac.LoadClip(this._rc.QueryClip(snippet));
}
// Play Animation.Frame
_ac.Step();
yield return(null);
}
public void DrawPath(Trajectory.Snippet snippet)
{
GameObject.Destroy(_path);
_path = new GameObject();
_path.name = "Path";
_path.transform.position = new Vector3(this._model.position.x, 0, this._model.position.z);
_path.transform.rotation = Quaternion.Euler(0, this._model.rotation.eulerAngles.y, 0);
foreach (Trajectory.Point point in snippet.points)
{
CreateDot(
new Vector3(point.position.x, 0, point.position.y),
DotScale,
_path.transform,
Color.red
);
}
}
public void DrawAlternativePath(Trajectory.Snippet snippet, int offset, float weight)
{
GameObject.Destroy(_altPathArray[offset]);
_altPathArray[offset] = new GameObject();
_altPathArray[offset].name = "Path " + offset;
_altPathArray[offset].transform.parent = _altPaths.transform;
_altPathArray[offset].transform.position = new Vector3(this._model.position.x, 0, this._model.position.z);
_altPathArray[offset].transform.rotation = Quaternion.Euler(0, this._model.rotation.eulerAngles.y, 0);
foreach (Trajectory.Point point in snippet.points)
{
CreateDot(
new Vector3(point.position.x, 0, point.position.y),
AlternativeDotScale,
_altPathArray[offset].transform,
Color.green
);
}
}
public Animation.Clip QueryClip(Trajectory.Snippet currentSnippet)
{
// 1. Reduce cooldowns (after the previous Clip has finished)
ReduceCooldowns();
// 2. Check if the next Clip is fitting (or the first one, if we reach the end)
// The next Clip is NOT necesserily the product of the next Feature
this._currentFeature = (this._currentFeature + SalamanderController.FeatureStep) % this._anim[this._currentAnimation].featureList.Count;
this._maxTrajectoryDiff = currentSnippet.CalcDiff(this._anim[this._currentAnimation].featureList[this._currentFeature].snippet);
if (this._maxTrajectoryDiff > SalamanderController.RecalculationThreshold)
{
(this._currentAnimation, this._currentFeature) = QueryFeature(currentSnippet);
//Debug.Log("Recalculating");
//Debug.Log("File: " + this._currentAnimation + " Clip: " + this._currentFeature);
}
else
{
//Debug.Log("Not Recalculating");
}
// 3. Construct the Clip, blend it with the current one and return it
Animation.Clip nextClip = new Animation.Clip(
this._anim[this._currentAnimation].frameList.GetRange(
this._anim[this._currentAnimation].featureList[this._currentFeature].frameNum + SalamanderController.FramesPerPoint,
SalamanderController.FramesPerPoint * (SalamanderController.FeaturePoints + SalamanderController.ClipBlendPoints)
)
);
nextClip.BlendWith(_currentClip);
_currentClip = nextClip;
// 4. Put the current Feature on cooldown
PutOnCooldown(this._anim[this._currentAnimation].featureList[this._currentFeature]);
return(nextClip);
}
public Feature(int frameNum, Trajectory.Snippet snippet, Pose pose)
{
this.frameNum = frameNum;
this.snippet = snippet;
this.pose = pose;
}
private (int, int) QueryFeature(Trajectory.Snippet currentSnippet)
{
List <CandidateFeature> candidateFeatures = new List <CandidateFeature>();
Tuple <float, CandidateFeature> winnerFeature = new Tuple <float, CandidateFeature>(Mathf.Infinity, null);
Pose currentPose = _anim[_currentAnimation].featureList[_currentFeature].pose;
float maxPosePositionDiff = 0;
float maxPoseVelocityDiff = 0;
// Draw current snippet
_fc?.DrawPath(currentSnippet);
// Initialize candidate features to the next clip
for (int i = 0; i < SalamanderController.CandidateFramesSize; i++)
{
candidateFeatures.Add(new CandidateFeature(
_anim[_currentAnimation].featureList[_currentFeature],
_maxTrajectoryDiff,
_currentAnimation,
_currentFeature)
);
}
// 1. Find the Clips with the most fitting Trajectories
for (int i = 0; i < _anim.Count; i++)
{
for (int j = 0; j < _anim[i].featureList.Count; j++)
{
Feature feature = _anim[i].featureList[j];
// Consider only active Frames (not on cooldown)
if (feature.cooldownTimer == 0)
{
// A. Add candidate Feature to the best candidates list
float diff = currentSnippet.CalcDiff(feature.snippet);
// Experiment
// If the Trajectory is good enough to consider
if (diff <= _maxTrajectoryDiff)
{
// Remove worst candidate
candidateFeatures.RemoveAt(candidateFeatures.Count - 1);
_maxTrajectoryDiff = candidateFeatures[candidateFeatures.Count - 1].trajectoryDiff;
// Add candidate to the right position
for (int k = 0; k < candidateFeatures.Count; k++)
{
if (candidateFeatures[k].trajectoryDiff > diff)
{
candidateFeatures.Insert(k, new CandidateFeature(feature, diff, i, j));
break;
}
}
}
/*
* if (diff <= this._maxTrajectoryDiff)
* {
* CandidateFeature candidateFeature = new CandidateFeature(
* feature, diff, i, j
* );
* candidateFeatures.Add(candidateFeature);
* }
*
* // B. Sort candidates based on their diff
* candidateFeatures.Sort(
* (firstObj, secondObj) =>
* {
* return firstObj.trajectoryDiff.CompareTo(secondObj.trajectoryDiff);
* }
* );
*/
}
}
}
//// C. Keep only a predefined number of best candidates
//if (candidateFeatures.Count <= 0)
//{
// Debug.LogError("Unable to find any Animation Frame to transition to");
// return (0, 0);
//}
//else if (candidateFeatures.Count > SalamanderController.CandidateFramesSize)
//{
// candidateFeatures.RemoveRange(SalamanderController.CandidateFramesSize, candidateFeatures.Count - SalamanderController.CandidateFramesSize);
//}
// 2. Compute the difference in Pose for each Clip (position and velocity)
for (int i = 0; i < candidateFeatures.Count; i++)
{
(float posePositionDiff, float poseVelocityDiff) = currentPose.CalcDiff(candidateFeatures[i].feature.pose);
candidateFeatures[i].posePositionDiff = posePositionDiff;
candidateFeatures[i].poseVelocityDiff = poseVelocityDiff;
// Keep the maximum values of the differences, in order to normalise
maxPosePositionDiff = posePositionDiff > maxPosePositionDiff ?
posePositionDiff :
maxPosePositionDiff;
maxPoseVelocityDiff = poseVelocityDiff > maxPoseVelocityDiff ?
poseVelocityDiff :
maxPoseVelocityDiff;
// Draw all alternative paths
//this._fc.DrawAlternativePath(candidateFeatures[i].feature.snippet, i, candidateFeatures[i].trajectoryDiff);
}
// 3. Normalize and add differences
for (int i = 0; i < candidateFeatures.Count; i++)
{
if (maxPosePositionDiff > 0)
{
candidateFeatures[i].posePositionDiff /= maxPosePositionDiff;
}
if (maxPoseVelocityDiff > 0)
{
candidateFeatures[i].poseVelocityDiff /= maxPoseVelocityDiff;
}
float totalPostDiff = candidateFeatures[i].posePositionDiff + candidateFeatures[i].poseVelocityDiff;
winnerFeature = winnerFeature.Item1 > totalPostDiff ?
new Tuple <float, CandidateFeature>(totalPostDiff, candidateFeatures[i]) :
winnerFeature;
}
//Debug.Log("Playing animation from \"" + this._anim[winnerFeature.Item2.animationNum].animationName + "\"");
// Draw picked animation's path
this._fc?.DrawAlternativePath(winnerFeature.Item2.feature.snippet, 1, winnerFeature.Item2.trajectoryDiff);
// 4. Return the Feature's index
return(winnerFeature.Item2.animationNum, winnerFeature.Item2.clipNum);
}
private (int, int) QueryFeature(Trajectory.Snippet currentSnippet)
{
List <CandidateFeature> candidateFeatures = new List <CandidateFeature>();
Tuple <float, CandidateFeature> winnerFeature = new Tuple <float, CandidateFeature>(Mathf.Infinity, null);
Pose currentPose = this._anim[this._currentAnimation].featureList[this._currentFeature].pose;
float maxPosePositionDiff = 0;
float maxPoseVelocityDiff = 0;
// TODO remove
this._fc.DrawPath(currentSnippet);
// 1. Find the Clips with the most fitting Trajectories
for (int i = 0; i < this._anim.Count; i++)
{
for (int j = 0; j < this._anim[i].featureList.Count; j++)
{
Feature feature = this._anim[i].featureList[j];
// Consider only active Frames (not on cooldown)
if (feature.cooldownTimer == 0)
{
// A. Add candidate Feature to the best candidates list
float diff = currentSnippet.CalcDiff(feature.snippet);
//Debug.Log("diff: " + diff);
if (diff < CharacterController.MaxTrajectoryDiff)
{
CandidateFeature candidateFeature = new CandidateFeature(
feature, diff, i, j
);
candidateFeatures.Add(candidateFeature);
}
// B. Sort candidates based on their diff
candidateFeatures.Sort(
(firstObj, secondObj) =>
{
return(firstObj.trajectoryDiff.CompareTo(secondObj.trajectoryDiff));
}
);
// C. Keep only a predefined number of best candidates
if (candidateFeatures.Count <= 0)
{
Debug.LogError("Unable to find any Animation Frame to transition to");
return(0, 0);
}
else if (candidateFeatures.Count > CharacterController.CandidateFramesSize)
{
candidateFeatures.RemoveRange(CharacterController.CandidateFramesSize, candidateFeatures.Count - CharacterController.CandidateFramesSize);
}
}
}
}
// 2. Compute the difference in Pose for each Clip (position and velocity)
for (int i = 0; i < candidateFeatures.Count; i++)
{
(float posePositionDiff, float poseVelocityDiff) = currentPose.CalcDiff(candidateFeatures[i].feature.pose);
candidateFeatures[i].posePositionDiff = posePositionDiff;
candidateFeatures[i].poseVelocityDiff = poseVelocityDiff;
// Keep the maximum values of the differences, in order to normalise
maxPosePositionDiff = posePositionDiff > maxPosePositionDiff ?
posePositionDiff :
maxPosePositionDiff;
maxPoseVelocityDiff = poseVelocityDiff > maxPoseVelocityDiff ?
poseVelocityDiff :
maxPoseVelocityDiff;
// TODO remove
//this._fc.DrawAlternativePath(candidateFeatures[i].feature.snippet, i, candidateFeatures[i].trajectoryDiff);
}
// 3. Normalize and add differences
for (int i = 0; i < candidateFeatures.Count; i++)
{
candidateFeatures[i].posePositionDiff /= maxPosePositionDiff;
candidateFeatures[i].poseVelocityDiff /= maxPoseVelocityDiff;
float totalPostDiff = candidateFeatures[i].posePositionDiff + candidateFeatures[i].poseVelocityDiff;
winnerFeature = winnerFeature.Item1 > totalPostDiff ?
new Tuple <float, CandidateFeature>(totalPostDiff, candidateFeatures[i]) :
winnerFeature;
}
Debug.Log("Starting animation: " + this._anim[winnerFeature.Item2.animationNum].animationName);
// TODO remove
this._fc.DrawAlternativePath(winnerFeature.Item2.feature.snippet, 1, winnerFeature.Item2.trajectoryDiff);
// 4. Return the Feature's index
return(winnerFeature.Item2.animationNum, winnerFeature.Item2.clipNum);
}
