public MotionMatchingState(string name, MotionMatchingStateType type, int index, int stateID)
{
this.name = name;
this.stateType = type;
this.index = index;
this.nodeID = stateID;
poseCostType = PoseCostType.Position;
trajectoryCostType = TrajectoryCostType.PositionVelocityOrientation;
trajectoryCostWeight = 1f;
poseCostWeight = 1f;
transitions = new List <Transition>();
speedMultiplier = 1f;
whereCanFindingNextPose = new List <float2>();
motionDataGroups = new List <MotionDataGroup>();
motionDataGroups.Add(new MotionDataGroup("MotionGroup"));
switch (this.stateType)
{
case MotionMatchingStateType.MotionMatching:
mmFeatures = new MotionMatchingStateFeatures();
break;
case MotionMatchingStateType.SingleAnimation:
saFeatures = new SingleAnimationStateFeatures();
break;
case MotionMatchingStateType.ContactAnimationState:
csFeatures = new ContactStateFeatures();
break;
}
}
public void SetChangingOptions(
TrajectoryCostType trajectoryCostType,
PoseCostType poseCostType,
NativeArray <BoneData> currentPose,
NativeArray <TrajectoryPoint> trajectory,
NativeList <CurrentPlayedClipInfo> currentClips,
NativeArray <int> sectionsIndex,
NativeArray <SectionInfo> sectionDependecies,
float trajectoryWeight,
float poseWeight,
int currentMotionDataGroupIndex
)
{
this.trajectoryCostType = trajectoryCostType;
this.poseCostType = poseCostType;
this.currentPose = currentPose;
this.currentTrajectory = trajectory;
this.currentPlayingClips = currentClips;
this.sectionsIndexes = sectionsIndex;
this.sectionDependecies = sectionDependecies;
this.trajectoryWeight = trajectoryWeight;
this.poseWeight = poseWeight;
this.currentGroupIndex = currentMotionDataGroupIndex;
}
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 float CaculateCost(FrameData toFrame, TrajectoryCostType trajectoryCostType, PoseCostType poseCostType, float responsivity = 1f)
{
float cost = 0f;
cost += responsivity * this.trajectory.CalculateCost(toFrame.trajectory, trajectoryCostType);
cost += this.pose.CalculateCost(toFrame.pose, poseCostType);
return(cost);
}
public float CalculateCost(Trajectory toTrajectory, TrajectoryCostType type)
{
float cost = 0f;
for (int i = 0; i < Length; i++)
{
cost += points[i].CalculateCost(toTrajectory.GetPoint(i), type);
}
return(cost);
}
public void SetChangingOptions(
TrajectoryCostType trajectoryCostType,
PoseCostType poseCostType,
NativeArray <BoneData> currentPose,
NativeArray <TrajectoryPoint> trajectory,
NativeArray <float2> whereWeCanFindingPos,
float trajectoryWeight,
float poseWeight
)
{
this.trajectoryCostType = trajectoryCostType;
this.poseCostType = poseCostType;
this.currentPose = currentPose;
this.currentTrajectory = trajectory;
this.whereWeCanFindingPos = whereWeCanFindingPos;
this.trajectoryWeight = trajectoryWeight;
this.poseWeight = poseWeight;
}
public float3 CalculateVectorCost(TrajectoryPoint point, TrajectoryCostType type)
{
float3 cost = float3.zero;
switch (type)
{
//case TrajectoryCostType.Position:
// cost += CalculatePositionVectorCost(point);
// break;
//case TrajectoryCostType.Velocity:
// cost += CalculateVelocityVectorCost(point);
// break;
//case TrajectoryCostType.Orientation:
// cost += CalculateOrientationVectorCost(point);
// break;
//case TrajectoryCostType.PositionVelocity:
// cost += CalculatePositionVectorCost(point);
// cost += CalculateVelocityVectorCost(point);
// break;
//case TrajectoryCostType.PositionOrientation:
// cost += CalculatePositionVectorCost(point);
// cost += CalculateOrientationVectorCost(point);
// break;
//case TrajectoryCostType.VelocityOrientation:
// cost += CalculateVelocityVectorCost(point);
// cost += CalculateOrientationVectorCost(point);
// break;
case TrajectoryCostType.PositionVelocityOrientation:
cost += CalculatePositionVectorCost(point);
cost += CalculateVelocityVectorCost(point);
cost += CalculateOrientationVectorCost(point);
break;
case TrajectoryCostType.None:
break;
}
return(cost);
}
public float CalculateCost(TrajectoryPoint point, TrajectoryCostType type)
{
float cost = 0;
//switch (type)
//{
//case TrajectoryCostType.Position:
// cost += CalculatePositionCost(point);
// break;
//case TrajectoryCostType.Velocity:
// cost += CalculateVelocityCost(point);
// break;
//case TrajectoryCostType.Orientation:
// cost += CalculateOrientationCost(point);
// break;
//case TrajectoryCostType.PositionVelocity:
// cost += CalculatePositionCost(point);
// cost += CalculateVelocityCost(point);
// break;
//case TrajectoryCostType.PositionOrientation:
// cost += CalculatePositionCost(point);
// cost += CalculateOrientationCost(point);
// break;
//case TrajectoryCostType.VelocityOrientation:
// cost += CalculateVelocityCost(point);
// cost += CalculateOrientationCost(point);
// break;
//case TrajectoryCostType.PositionVelocityOrientation:
cost += CalculatePositionCost(point);
cost += CalculateVelocityCost(point);
cost += CalculateOrientationCost(point);
//break;
// case TrajectoryCostType.None:
//break;
//}
return(cost);
}
