public override void Read()
{
// lazy way to match bones.
string[] name = new string[] { "Hips", "Spine", "Spine1", "Spine2", "Neck", "Head", "LeftShoulder", "LeftArm", "LeftForeArm", "LeftHand",
"RightShoulder", "RightArm", "RightForeArm", "RightHand", "LeftUpLeg", "LeftLeg", "LeftFoot", "LeftToeBase",
"RightUpLeg", "RightLeg", "RightFoot", "RightToeBase" };
Vector3[] positions = new Vector3[name.Length];
Vector3[] forwards = new Vector3[name.Length];
Vector3[] upwards = new Vector3[name.Length];
Vector3[] velocities = new Vector3[name.Length];
for (int i = 0; i < positions.Length; i++)
{
positions[i] = NeuralNetwork.ReadVector3();
forwards[i] = NeuralNetwork.ReadVector3().normalized;
upwards[i] = NeuralNetwork.ReadVector3().normalized;
velocities[i] = NeuralNetwork.ReadVector3();
}
for (int i = 0; i < positions.Length; i++)
{
Actor.Bone bone = Actor.FindBoneContains(name[i]);
bone.Transform.position = positions[i];
bone.Transform.rotation = Quaternion.LookRotation(forwards[i], upwards[i]);
}
}
public void AutoMap()
{
Map = new BoneMap[Data.Root.Bones.Length];
for (int i = 0; i < Data.Root.Bones.Length; i++)
{
Map[i].BvhBoneName = Data.Root.Bones[i].Name;
string name = Data.Root.Bones[i].Name;
if (!Data.Mirrored)
{
if (name.Contains("Left"))
{
name = name.Replace("Left", "Right");
}
else if (name.Contains("Right"))
{
name = name.Replace("Right", "Left");
}
}
Actor.Bone bone = GetActor().FindBoneContains(name);
if (bone == null)
{
Map[i].ActorBoneTransform = null;
}
else
{
Map[i].ActorBoneTransform = bone.Transform;
}
}
}
private float FootSliding(Actor.Bone foot, Vector3 previousFootPosition)
{
//Array.Find(Actor.Bones, x => x.Transform.name == "LeftHandSite").Velocity.x
Vector3 velocity = (foot.Transform.position - previousFootPosition) / Time.deltaTime;
float magnitude = new Vector3(velocity.x, 0f, velocity.z).magnitude;
float footHeight = foot.Transform.position.y - Utility.GetHeight(foot.Transform.position, AnimationAuthoring.GetControlPoint(AnimationAuthoring.RefTimestamp, 0).Ground);
float threshold = 0.025f;
float s = magnitude * (2f - Mathf.Pow(2, Mathf.Clamp(footHeight / threshold, 0f, 1f)));
return(s);
}
//public void ParticleIK()
//{
//}
private void SetChainIndices(int index)
{
int[] indices = new int[0];
Actor.Bone root = MyActor.Bones[Chains[index].RootIndex];
Actor.Bone effector = MyActor.Bones[Chains[index].EffectorIndex];
Actor.Bone current = effector;
while (current != root)
{
ArrayExtensions.Add(ref indices, current.Index);
current = MyActor.Bones[current.Parent];
}
ArrayExtensions.Add(ref indices, root.Index);
Array.Reverse(indices, 0, indices.Length);
Chains[index].JointIndices = indices;
}
public void CCDSolver(int index)
{
Vector3 targetPos = Chains[index].TargetObject.transform.position;
Vector3 localEffectorPos = Vector3.zero;
Vector3 localTargetPos = Vector3.zero;
Actor.Bone root = MyActor.Bones[Chains[index].RootIndex];
Actor.Bone effector = MyActor.Bones[Chains[index].EffectorIndex];
for (int itr = 0; itr < MaxItr; itr++)
{
for (Actor.Bone joint = MyActor.Bones[effector.Parent]; joint != null; joint = MyActor.Bones[joint.Parent])
{
Vector3 effectorPos = effector.Transform.position;
Matrix4x4 worldToLocal = joint.Transform.worldToLocalMatrix;
localEffectorPos = worldToLocal.MultiplyPoint(effectorPos);
localTargetPos = worldToLocal.MultiplyPoint(targetPos);
Vector3 toEffectorNorm = Vector3.Normalize(localEffectorPos);
Vector3 toTargetNorm = Vector3.Normalize(localTargetPos);
float rotationAngle = Vector3.Angle(toEffectorNorm, toTargetNorm);
if (rotationAngle > 1.0e-5f)
{
Vector3 rotationAxis = Vector3.Cross(toEffectorNorm, toTargetNorm);
rotationAxis.Normalize();
joint.Transform.rotation = Quaternion.AngleAxis(rotationAngle, rotationAxis) * joint.Transform.rotation;
}
if (joint == root)
{
break;
}
}
if (Vector3.Distance(localEffectorPos, localTargetPos) < ErrThrehold)
{
return;
}
}
}
