public InverseKinematicsPerformanceDemo()
{
var figureDir = UnpackedArchiveDirectory.Make(new System.IO.DirectoryInfo("work/figures/genesis-3-female"));
var channelSystemRecipe = Persistance.Load <ChannelSystemRecipe>(figureDir.File("channel-system-recipe.dat"));
channelSystem = channelSystemRecipe.Bake(null);
var boneSystemRecipe = Persistance.Load <BoneSystemRecipe>(figureDir.File("bone-system-recipe.dat"));
boneSystem = boneSystemRecipe.Bake(channelSystem.ChannelsByName);
var inverterParameters = Persistance.Load <InverterParameters>(figureDir.File("inverter-parameters.dat"));
rigidBoneSystem = new RigidBoneSystem(boneSystem);
goalProvider = new DemoInverseKinematicsGoalProvider(rigidBoneSystem);
solver = new HarmonicInverseKinematicsSolver(rigidBoneSystem, inverterParameters.BoneAttributes);
var pose = Persistance.Load <List <Pose> >(figureDir.File("animations/idle.dat"))[0];
var channelInputs = channelSystem.MakeDefaultChannelInputs();
new Poser(channelSystem, boneSystem).Apply(channelInputs, pose, DualQuaternion.Identity);
var channelOutputs = channelSystem.Evaluate(null, channelInputs);
rigidBoneSystem.Synchronize(channelOutputs);
initialInputs = rigidBoneSystem.ReadInputs(channelOutputs);
}
public void Run()
{
var channelOutputs = channelSystem.Evaluate(null, channelInputs);
rigidBoneSystem.Synchronize(channelOutputs);
var inputs = rigidBoneSystem.ReadInputs(channelOutputs);
CheckConsistency(channelOutputs);
var stopwatch = Stopwatch.StartNew();
int trialCount = 0;
while (true)
{
rigidBoneSystem.GetBoneTransforms(inputs);
trialCount += 1;
if (trialCount == 1000)
{
Console.WriteLine(stopwatch.Elapsed.TotalMilliseconds / trialCount);
trialCount = 0;
stopwatch.Restart();
}
}
}
public void Update(FrameUpdateParameters updateParameters, ChannelInputs inputs)
{
var outputs = channelSystem.Evaluate(null, inputs);
var chestBoneTransform = chestBone.GetChainedTransform(outputs);
var chestBoneRotation = chestBoneTransform.RotationStage.Rotation;
chestBoneRotation.Invert();
var gravity = Vector3.Transform(Vector3.Down, chestBoneRotation);
float xRotation = -5 - gravity.Y * 5;
lPectoralBone.Rotation.X.SetValue(inputs, xRotation);
rPectoralBone.Rotation.X.SetValue(inputs, xRotation);
float yRotationInput = gravity.X;
//Console.WriteLine(yRotation);
lPectoralBone.Rotation.Y.SetValue(inputs, 5 * ExpandNegative(yRotationInput));
rPectoralBone.Rotation.Y.SetValue(inputs, 5 * ExpandPositive(yRotationInput));
float flatten = Max(-gravity.Z, 0);
float hangForward = Max(+gravity.Z, 0);
flattenChannel.SetValue(inputs, flatten);
hangForwardChannel.SetValue(inputs, hangForward);
}
public void Update(FrameUpdateParameters updateParameters, ChannelInputs channelInputs, ControlVertexInfo[] previousFrameControlVertexInfos)
{
var channelOutputs = channelSystem.Evaluate(null, channelInputs);
boneSystem.Synchronize(channelOutputs);
var baseInputs = boneSystem.ReadInputs(channelOutputs);
var resultInputs = boneSystem.ApplyDeltas(baseInputs, poseDeltas);
List <InverseKinematicsGoal> goals = goalProvider.GetGoals(updateParameters, resultInputs, previousFrameControlVertexInfos);
solver.Solve(boneSystem, goals, resultInputs);
poseDeltas = boneSystem.CalculateDeltas(baseInputs, resultInputs);
boneSystem.WriteInputs(channelInputs, channelOutputs, resultInputs);
}
public void Update(FrameUpdateParameters updateParameters, ChannelInputs inputs)
{
headPositionForecaster.Update(updateParameters.Time, updateParameters.HeadPosition);
var forecastHeadPosition = headPositionForecaster.Forecast;
if (!behaviorModel.LookAtPlayer)
{
return;
}
var outputs = channelSystem.Evaluate(null, inputs);
var eyeParentTotalTransform = eyeParentBone.GetChainedTransform(outputs);
UpdateEye(outputs, eyeParentTotalTransform, inputs, leftEyeBone, forecastHeadPosition);
UpdateEye(outputs, eyeParentTotalTransform, inputs, rightEyeBone, forecastHeadPosition);
}
private void Update3dAudioPosition(FrameUpdateParameters updateParameters, ChannelInputs inputs)
{
TrackedDevicePose_t gamePose = updateParameters.GamePoses[OpenVR.k_unTrackedDeviceIndex_Hmd];
Matrix hmdToWorldTransform = gamePose.mDeviceToAbsoluteTracking.Convert();
hmdToWorldTransform.Invert();
var outputs = channelSystem.Evaluate(null, inputs);
var headTotalTransform = headBone.GetChainedTransform(outputs);
var headBindPoseCenter = headBone.CenterPoint.GetValue(outputs);
Vector3 headWorldPosition = headTotalTransform.Transform(headBindPoseCenter) / 100;
Vector3 headHmdPosition = Vector3.TransformCoordinate(headWorldPosition, hmdToWorldTransform);
phononStream.HeadRelativePosition = headHmdPosition;
}
public void Update(FrameUpdateParameters updateParameters, ChannelInputs inputs)
{
headPositionForecaster.Update(updateParameters.Time, updateParameters.HeadPosition);
var forecastHeadPosition = headPositionForecaster.Forecast;
var outputs = channelSystem.Evaluate(null, inputs);
var neckTotalTransform = headBone.Parent.GetChainedTransform(outputs);
var figureEyeCenter = (leftEyeBone.CenterPoint.GetValue(outputs) + rightEyeBone.CenterPoint.GetValue(outputs)) / 2;
var figureEyeWorldPosition = neckTotalTransform.Transform(figureEyeCenter);
var lookPointWorldPosition = neckTotalTransform.Transform(figureEyeCenter + Vector3.BackwardRH);
var lookWorldDirection = Vector3.Normalize(lookPointWorldPosition - figureEyeWorldPosition);
var targetLookWorldDirection = Vector3.Normalize(forecastHeadPosition * 100 - figureEyeWorldPosition);
var worldRotationCorrection = QuaternionExtensions.RotateBetween(lookWorldDirection, targetLookWorldDirection);
var targetLocalRotationCorrection = Quaternion.Invert(neckTotalTransform.RotationStage.Rotation) * worldRotationCorrection * neckTotalTransform.RotationStage.Rotation;
headBone.SetEffectiveRotation(inputs, outputs, targetLocalRotationCorrection);
}
public void Run()
{
var outputs = channelSystem.Evaluate(null, inputs);
var stopwatch = Stopwatch.StartNew();
int trialCount = 0;
while (true)
{
boneSystem.GetBoneTransforms(outputs);
trialCount += 1;
if (trialCount == 1000)
{
Console.WriteLine(stopwatch.Elapsed.TotalMilliseconds / trialCount);
trialCount = 0;
stopwatch.Restart();
}
}
}
public ChannelOutputs Evaluate(ChannelOutputs parentOutputs, ChannelInputs inputs)
{
return(channelSystem.Evaluate(parentOutputs, inputs));
}