public void SetJointData(Data.Joint jData, Data.Joint prev = null)
{
jData.isLeft = isLeft;
jData.chainPos = chainPos;
jData.position = _root.InverseTransformPoint(transform.position);
jData.rotEuler = _root.InverseTransformDirection(transform.rotation.eulerAngles);
jData.rotQuaternion = _root.transform.rotation * transform.rotation;
jData.rotMat = new float3x3(
_root.InverseTransformDirection(transform.forward),
_root.InverseTransformDirection(transform.up),
_root.InverseTransformDirection(transform.right));
jData.geoDistance = joint.geoDistance;
jData.geoDistanceNormalised = joint.geoDistanceNormalised;
jData.inertiaObj = inertiaObj;
// jData.COM = centerOfMass;
jData.totalMass = totalMass;
if (prev == null)
{
jData.velocity = (jData.position - initPosition) / Time.fixedDeltaTime;
jData.angularVelocity = (jData.rotEuler - initRotationEuler) / Time.fixedDeltaTime;
}
else
{
jData.velocity = (jData.position - prev.position) / Time.fixedDeltaTime;
jData.angularVelocity = (jData.rotEuler - prev.rotEuler) / Time.fixedDeltaTime;
}
jData.linearMomentum = jData.velocity * totalMass;
jData.inertia = math.mul(jData.rotMat, math.mul(jData.inertiaObj, math.transpose(jData.rotMat)));
jData.angularMomentum = math.mul(jData.inertia, jData.angularVelocity);
jData.x = new BioJoint.Motion(joint.X);
jData.y = new BioJoint.Motion(joint.Y);
jData.z = new BioJoint.Motion(joint.Z);
if (keyBone)
{
jData.tGoalPosition = target.InverseTransformPoint(transform.position);
jData.tGoalDirection = target.InverseTransformDirection(transform.rotation.eulerAngles);
jData.cost = DistanceObjective.ComputeCost(transform, target, _root);
jData.contact = Vector3.Distance(target.transform.position, transform.position) < threshold;
contact = jData.contact;
jData.key = keyBone;
}
}
public void Record(int contactFrames = 5)
{
/*
* Assumes the target is already placed.
*/
replaying = resetting = false;
_rig.ik.EnableObjective.Invoke(true);
contactingFrames = 0;
UnityEngine.Random.InitState(2021);
List <Frame> frames = new List <Frame>();
List <float> timestamps = new List <float>();
Data.Joint[] joints;
Data.Joint[] jointsPrev = null;
int len = _rig.joints.Length;
bool[] contacted = new bool[_rig.joints.Length];
for (int i = 0; i < this.clipSize; ++i)
{
// Set joint data for each joint in the rig
joints = new Data.Joint[len];
if (i == 0)
{
for (int j = 0; j < len; ++j)
{
joints[j] = new Anim.Data.Joint();
var jojo = _rig.joints[j];
jojo.SetJointData(joints[j], null);
if (joints[j].contact)
{
contacted[j] = true;
}
}
}
else
{
for (int j = 0; j < len; ++j)
{
joints[j] = new Anim.Data.Joint();
var jojo = _rig.joints[j];
jojo.SetJointData(joints[j], jointsPrev[j]);
if (joints[j].contact)
{
contacted[j] = true;
}
}
}
if (contactingFrames > -1 && contacted.Count(ifTrue) >= _rig.targets.Length)
{
Contacted(contactFrames);
}
if (twoFold && contactingFrames < 0)
{
foreach (var jo in _rig.joints)
{
jo.joint.X.TargetValue = jo.joint.defaultX.TargetValue;
jo.joint.Y.TargetValue = jo.joint.defaultY.TargetValue;
jo.joint.Z.TargetValue = jo.joint.defaultZ.TargetValue;
}
}
var targetTransforms = new float3[_rig.targets.Length];
var targetRotations = new float3[_rig.targets.Length];
for (int ii = 0; ii < _rig.targets.Length; ++ii)
{
targetTransforms[ii] = _rig.targets[ii].transform.position;
targetRotations[ii] = _rig.targets[ii].transform.rotation.eulerAngles;
}
// Set frame data
var f = new Anim.Data.Frame();
f.joints = joints;
f.targetsPositions = targetTransforms;
f.targetsRotations = targetRotations;
jointsPrev = joints;
// Append timestamp and frame data to the sequence
timestamps.Add(i);
frames.Add(f);
// Use BioIK to compute the next pose
_rig.ik.ManualUpdate();
}
if (clip == null)
{
clip = Instantiate(prefabSequence);
}
clip.frames = frames.ToArray();
clip.timestamp = timestamps.ToArray();
ResetPose();
}
public void Record(float amplitude, float frequency, float stepSize)
{
/*
* For locomotion
*/
_rig.ik.EnableObjective.Invoke(true);
List <Frame> frames = new List <Frame>();
List <float> timestamps = new List <float>();
Data.Joint[] joints;
Data.Joint[] jointsPrev = null;
int len = _rig.joints.Length;
var locomotion = _rig.locomotion;
locomotion.SetAmplitude(amplitude);
locomotion.SetFrequency(frequency);
locomotion.SetStepSize(stepSize);
for (int i = 0; i < this.clipSize; ++i)
{
// Set joint data for each joint in the rig
joints = new Data.Joint[len];
bool contacted = false;
if (i == 0)
{
for (int j = 0; j < len; ++j)
{
joints[j] = new Anim.Data.Joint();
var jojo = _rig.joints[j];
jojo.SetJointData(joints[j], null);
}
}
else
{
for (int j = 0; j < len; ++j)
{
joints[j] = new Anim.Data.Joint();
var jojo = _rig.joints[j];
jojo.SetJointData(joints[j], jointsPrev[j]);
}
}
locomotion.Step();
var targetTransforms = new float3[_rig.targets.Length];
var targetRotations = new float3[_rig.targets.Length];
for (int ii = 0; ii < _rig.targets.Length; ++ii)
{
targetTransforms[ii] = _rig.targets[ii].transform.position;
targetRotations[ii] = _rig.targets[ii].transform.rotation.eulerAngles;
}
// Set frame data
var f = new Anim.Data.Frame();
f.joints = joints;
f.targetsPositions = targetTransforms;
f.targetsRotations = targetRotations;
jointsPrev = joints;
// Append timestamp and frame data to the sequence
timestamps.Add(i);
frames.Add(f);
// Use BioIK to compute the next pose
_rig.ik.ManualUpdate();
}
if (clip == null)
{
clip = Instantiate(prefabSequence);
}
clip.frames = frames.ToArray();
clip.timestamp = timestamps.ToArray();
_rig.locomotion.Reset();
ResetPose();
}
public void Record(List <float3[]> path, float[] timings, int contactFrames)
{
/*
* Introduces a random path for the key-joints for a random duration, before spawning the target.
*/
var disableIK = true;
contactingFrames = 0;
_rig.ik.EnableObjective.Invoke(false);
replaying = resetting = false;
_rig.ik.EnableObjective.Invoke(true);
List <Frame> frames = new List <Frame>();
List <float> timestamps = new List <float>();
Data.Joint[] joints;
Data.Joint[] jointsPrev = null;
int len = _rig.joints.Length;
int[] keyframes = new int[timings.Length];
for (int i = 0; i < keyframes.Length; ++i)
{
keyframes[i] = (int)(timings[i] * this.clipSize);
}
int keyframePtr = 0;
for (int i = 0; i < this.clipSize; ++i)
{
// Set joint data for each joint in the rig
joints = new Data.Joint[len];
bool contacted = false;
if (i == 0)
{
for (int j = 0; j < len; ++j)
{
joints[j] = new Anim.Data.Joint();
var jojo = _rig.joints[j];
jojo.SetJointData(joints[j], null);
if (joints[j].contact)
{
contacted = true;
}
}
}
else
{
for (int j = 0; j < len; ++j)
{
joints[j] = new Anim.Data.Joint();
var jojo = _rig.joints[j];
jojo.SetJointData(joints[j], jointsPrev[j]);
if (joints[j].contact)
{
contacted = true;
}
}
}
if (disableIK && i < keyframes[keyframePtr])
{
int k = 0;
foreach (var jo in _rig.joints)
{
if (jo.keyBone)
{
var jojo = jo.joint;
jojo.X.TargetValue = path[keyframePtr][k].x;
jojo.Y.TargetValue = path[keyframePtr][k].y;
jojo.Z.TargetValue = path[keyframePtr][k].z;
++k;
}
}
}
else
{
if (++keyframePtr >= keyframes.Length && disableIK)
{
disableIK = false;
_rig.ik.EnableObjective.Invoke(true);
}
if (contacted)
{
Contacted(contactFrames);
}
}
if (twoFold && contactingFrames < 0)
{
foreach (var jo in _rig.joints)
{
jo.joint.X.TargetValue = 0;
jo.joint.Y.TargetValue = 0;
jo.joint.Z.TargetValue = 0;
}
}
var targetTransforms = new float3[_rig.targets.Length];
var targetRotations = new float3[_rig.targets.Length];
for (int ii = 0; ii < _rig.targets.Length; ++ii)
{
targetTransforms[ii] = _rig.targets[ii].transform.position;
targetRotations[ii] = _rig.targets[ii].transform.rotation.eulerAngles;
}
// Set frame data
var f = new Anim.Data.Frame();
f.joints = joints;
f.targetsPositions = targetTransforms;
f.targetsRotations = targetRotations;
jointsPrev = joints;
// Append timestamp and frame data to the sequence
timestamps.Add(i);
frames.Add(f);
// Use BioIK to compute the next pose
_rig.ik.ManualUpdate();
}
if (clip == null)
{
clip = Instantiate(prefabSequence);
}
clip.frames = frames.ToArray();
clip.timestamp = timestamps.ToArray();
// ResetPose();
}