Nullable <TrajectoryHeuristicDebug> FindTrajectoryHeuristic(DebugMemory debugMemory)
{
if (!trajectory.IsValid)
{
return(null);
}
int heuristicTypeCode = BurstRuntime.GetHashCode32 <TrajectoryHeuristicDebug>();
for (DebugReference reference = debugMemory.FirstOrDefault; reference.IsValid; reference = debugMemory.Next(reference))
{
if (reference.identifier.typeHashCode != heuristicTypeCode)
{
continue;
}
TrajectoryHeuristicDebug heuristicDebug = debugMemory.ReadObject <TrajectoryHeuristicDebug>(reference);
if (heuristicDebug.closestMatch.Equals(closestMatch))
{
return(heuristicDebug);
}
}
return(null);
}
public bool MatchPoseAndTrajectory(PoseSet candidates,
SamplingTime samplingTime,
Trajectory trajectory,
MatchOptions options = MatchOptions.None,
float trajectoryWeight = 0.6f,
float minTrajectoryDeviation = 0.03f,
float maxTotalDeviation = -1.0f)
{
if ((options & MatchOptions.DontMatchIfCandidateIsPlaying) > 0 && IsTimeInSequences(samplingTime, candidates.sequences))
{
if ((options & MatchOptions.LoopSegment) > 0)
{
LoopSegmentIfEndReached(samplingTime);
}
return(true);
}
if (!trajectory.debugIdentifier.IsValid)
{
DebugPushGroup();
DebugWriteUnblittableObject(ref trajectory);
}
DebugWriteUnblittableObject(ref candidates);
DebugWriteBlittableObject(ref samplingTime);
SamplingTime closestMatch = FindClosestPoseAndTrajectoryMatch(candidates, samplingTime, trajectory, trajectoryWeight, maxTotalDeviation);
if (closestMatch.IsValid)
{
bool validMatch = true;
if (minTrajectoryDeviation >= 0.0f)
{
float trajectoryDeviation = RelativeDeviation(closestMatch.timeIndex, trajectory);
validMatch = trajectoryDeviation >= minTrajectoryDeviation;
SamplingTime outputTime = closestMatch;
outputTime.debugIdentifier = DebugIdentifier.Invalid;
DebugWriteBlittableObject(ref outputTime, true);
TrajectoryHeuristicDebug heuristicDebug = new TrajectoryHeuristicDebug()
{
desiredTrajectory = trajectory.debugIdentifier,
candidate = samplingTime.debugIdentifier,
closestMatch = closestMatch.debugIdentifier,
outputTime = outputTime.debugIdentifier,
trajectoryDeviation = trajectoryDeviation,
minTrajectoryDeviation = minTrajectoryDeviation
};
DebugWriteBlittableObject(ref heuristicDebug);
closestMatch = outputTime;
}
if (validMatch)
{
PlayAtTime(closestMatch);
return(true);
}
}
if ((options & MatchOptions.LoopSegment) > 0)
{
LoopSegmentIfEndReached(samplingTime);
}
return(false);
}