/// <summary> Returns all repetitions of Quantity/Timing (OBR-27).</summary>
public virtual TQ[] getQuantityTiming()
{
TQ[] ret = null;
try
{
Type[] t = this.getField(27);
ret = new TQ[t.Length];
for (int i = 0; i < ret.Length; i++)
{
ret[i] = (TQ)t[i];
}
}
catch (System.InvalidCastException)
{
throw new Exception();
}
catch (NuGenHL7Exception)
{
throw new Exception();
}
return(ret);
}
static public TQ GetIKGoalTQ(Avatar avatar, float humanScale, AvatarIKGoal avatarIKGoal, TQ animatorBodyPositionRotation, TQ skeletonTQ)
{
int humanId = (int)HumanIDFromAvatarIKGoal(avatarIKGoal);
if (humanId == (int)HumanBodyBones.LastBone)
{
throw new System.InvalidOperationException("Invalid human id.");
}
MethodInfo methodGetAxisLength = typeof(Avatar).GetMethod("GetAxisLength", BindingFlags.Instance | BindingFlags.NonPublic);
if (methodGetAxisLength == null)
{
throw new System.InvalidOperationException("Cannot find GetAxisLength method.");
}
MethodInfo methodGetPostRotation = typeof(Avatar).GetMethod("GetPostRotation", BindingFlags.Instance | BindingFlags.NonPublic);
if (methodGetPostRotation == null)
{
throw new System.InvalidOperationException("Cannot find GetPostRotation method.");
}
Quaternion postRotation = (Quaternion)methodGetPostRotation.Invoke(avatar, new object[] { humanId });
var goalTQ = new TQ(skeletonTQ.t, skeletonTQ.q * postRotation);
if (avatarIKGoal == AvatarIKGoal.LeftFoot || avatarIKGoal == AvatarIKGoal.RightFoot)
{
// Here you could use animator.leftFeetBottomHeight or animator.rightFeetBottomHeight rather than GetAxisLenght
// Both are equivalent but GetAxisLength is the generic way and work for all human bone
float axislength = (float)methodGetAxisLength.Invoke(avatar, new object[] { humanId });
Vector3 footBottom = new Vector3(axislength, 0, 0);
goalTQ.t += (goalTQ.q * footBottom);
}
// IK goal are in avatar body local space
Quaternion invRootQ = Quaternion.Inverse(animatorBodyPositionRotation.q);
goalTQ.t = invRootQ * (goalTQ.t - animatorBodyPositionRotation.t);
goalTQ.q = invRootQ * goalTQ.q;
goalTQ.t /= humanScale;
return(goalTQ);
}
//--------------------- PILS ---------------------------//
//Bug: csv not generated when use button but key
//public void onPressed()
//{
// RecButtonController.pressed = !RecButtonController.pressed;
// if (RecButtonController.pressed)
// {
// RecordStart();
// }
// else
// {
// RecordEnd();
// }
//}
//--------------------- PILS ---------------------------//
// Update is called once per frame
private void LateUpdate()
{
if (!_recording)
{
return;
}
RecordedTime = Time.time - StartTime;
if (TargetFPS != 0.0f)
{
var nextTime = (1.0f * (FrameIndex + 1)) / TargetFPS;
if (nextTime > RecordedTime)
{
return;
}
if (FrameIndex % TargetFPS == 0)
{
print("Motion_FPS=" + 1 / (RecordedTime / FrameIndex));
}
}
else
{
if (Time.frameCount % Application.targetFrameRate == 0)
{
print("Motion_FPS=" + 1 / Time.deltaTime);
}
}
//現在のフレームのHumanoidの姿勢を取得
_poseHandler.GetHumanPose(ref _currentPose);
//posesに取得した姿勢を書き込む
var serializedPose = new HumanoidPoses.SerializeHumanoidPose();
switch (_rootBoneSystem)
{
case MotionDataSettings.Rootbonesystem.Objectroot:
serializedPose.BodyRootPosition = _animator.transform.localPosition;
serializedPose.BodyRootRotation = _animator.transform.localRotation;
break;
case MotionDataSettings.Rootbonesystem.Hipbone:
serializedPose.BodyRootPosition = _animator.GetBoneTransform(_targetRootBone).position;
serializedPose.BodyRootRotation = _animator.GetBoneTransform(_targetRootBone).rotation;
Debug.LogWarning(_animator.GetBoneTransform(_targetRootBone).position);
break;
default:
throw new ArgumentOutOfRangeException();
}
var bodyTQ = new TQ(_currentPose.bodyPosition, _currentPose.bodyRotation);
var LeftFootTQ = new TQ(_animator.GetBoneTransform(IK_LeftFootBone).position, _animator.GetBoneTransform(IK_LeftFootBone).rotation);
var RightFootTQ = new TQ(_animator.GetBoneTransform(IK_RightFootBone).position, _animator.GetBoneTransform(IK_RightFootBone).rotation);
LeftFootTQ = AvatarUtility.GetIKGoalTQ(_animator.avatar, _animator.humanScale, AvatarIKGoal.LeftFoot, bodyTQ, LeftFootTQ);
RightFootTQ = AvatarUtility.GetIKGoalTQ(_animator.avatar, _animator.humanScale, AvatarIKGoal.RightFoot, bodyTQ, RightFootTQ);
serializedPose.BodyPosition = bodyTQ.t;
serializedPose.BodyRotation = bodyTQ.q;
serializedPose.LeftfootIK_Pos = LeftFootTQ.t;
serializedPose.LeftfootIK_Rot = LeftFootTQ.q;
serializedPose.RightfootIK_Pos = RightFootTQ.t;
serializedPose.RightfootIK_Rot = RightFootTQ.q;
serializedPose.FrameCount = FrameIndex;
serializedPose.Muscles = new float[_currentPose.muscles.Length];
serializedPose.Time = RecordedTime;
for (int i = 0; i < serializedPose.Muscles.Length; i++)
{
serializedPose.Muscles[i] = _currentPose.muscles[i];
}
SetHumanBoneTransformToHumanoidPoses(_animator, ref serializedPose);
Poses.Poses.Add(serializedPose);
FrameIndex++;
}