public void SetChangingOptions(
PoseCostType poseCostType,
TrajectoryCostType trajectoryCostType,
ContactPointCostType contactCostType,
ContactStateMovemetType movementType,
NativeArray <BoneData> currentPose,
NativeArray <TrajectoryPoint> currentTrajectory,
NativeArray <FrameContact> currentContacts,
NativeArray <float2> whereWeCanFindingPos,
float trajectoryWeight,
float poseWeight,
float contactWeight
)
{
this.poseCostType = poseCostType;
this.trajectoryCostType = trajectoryCostType;
this.contactCostType = contactCostType;
this.cntactMovmentType = movementType;
this.currentPose = currentPose;
this.currentTrajectory = currentTrajectory;
this.currentContactPoints = currentContacts;
this.whereWeCanFindingPos = whereWeCanFindingPos;
this.trajectoryWeight = trajectoryWeight;
this.poseWeight = poseWeight;
this.contactWeight = contactWeight;
}
public ContactStateFeatures()
{
contactMovementType = ContactStateMovemetType.ContactLand;
contactCostType = ContactPointCostType.PositionNormal_OR_Direction;
adapt = false;
contactPointsWeight = 1f;
rotateToStart = true;
postionCorrection = ContactPointPositionCorrectionType.MovePosition;
}
public void SetChangingOptions(
PoseCostType poseCostType,
ContactPointCostType contactCostType,
NativeArray <BoneData> currentPose,
NativeArray <FrameContact> currentContacts,
float poseWeight,
float contactWeight
)
{
this.poseCostType = poseCostType;
this.contactCostType = contactCostType;
this.currentPose = currentPose;
this.currentContactPoints = currentContacts;
this.poseWeight = poseWeight;
this.contactWeight = contactWeight;
}
public float CalculateCost(MotionMatchingContact to, ContactPointCostType costType)
{
float cost = 0f;
switch (costType)
{
case ContactPointCostType.Postion:
cost += CalculatePositionCost(to);
break;
case ContactPointCostType.Normal_OR_Direction:
cost += CalculateNormalCost(to);
break;
case ContactPointCostType.PositionNormal_OR_Direction:
cost += CalculatePositionCost(to);
cost += CalculateNormalCost(to);
break;
}
return(cost);
}
private void OnCreate()
{
currentMotionDataGroupIndex = 0;
this.contactType = dataState.csFeatures.contactMovementType;
this.contactCost = dataState.csFeatures.contactCostType;
csJobs = new MotionMatchingContactEnterJob[dataState.maxJobsCount];
logicLayer.adaptedContactPoints = new List <MotionMatchingContact>();
targetContactPointIndex = 0;
for (int i = 0; i < dataState.maxJobsCount; i++)
{
csJobs[i] = new MotionMatchingContactEnterJob();
csJobs[i].SetBasicOptions(
this.dataState.motionDataGroups[currentMotionDataGroupIndex].framesInfoPerJob[i],
this.dataState.motionDataGroups[currentMotionDataGroupIndex].bonesPerJob[i],
this.dataState.motionDataGroups[currentMotionDataGroupIndex].trajectoryPointsPerJob[i],
this.dataState.motionDataGroups[currentMotionDataGroupIndex].contactPointsPerJob[i],
bestInfosFromJob[i],
this.dataState.csFeatures.middleContactsCount
);
}
}