コード例 #1
0
ファイル: MayaConstraint.cs プロジェクト: dermisfit/Paws
		/// <summary>
		/// Convert the target to a QuaternionInterpolationTarget for QuaternionHelper functions
		/// </summary>
		/// <param name="normalizedWeight">
		/// A <see cref="System.Single"/>
		/// </param>
		/// <returns>
		/// A <see cref="QuaternionInterpolationTarget"/>
		/// </returns>
		public QuaternionInterpolationTarget ToQuatInterpTarget(float normalizedWeight)
		{
			QuaternionInterpolationTarget t = new QuaternionInterpolationTarget();
			t.quaternion = target.rotation;
			t.weight = normalizedWeight;
			return t;
		}
コード例 #2
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ファイル: MayaConstraint.cs プロジェクト: seusman/Paws
        /// <summary>
        /// Convert the target to a QuaternionInterpolationTarget for QuaternionHelper functions
        /// </summary>
        /// <param name="normalizedWeight">
        /// A <see cref="System.Single"/>
        /// </param>
        /// <returns>
        /// A <see cref="QuaternionInterpolationTarget"/>
        /// </returns>
        public QuaternionInterpolationTarget ToQuatInterpTarget(float normalizedWeight)
        {
            QuaternionInterpolationTarget t = new QuaternionInterpolationTarget();

            t.quaternion = target.rotation;
            t.weight     = normalizedWeight;
            return(t);
        }
コード例 #3
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ファイル: QuaternionHelpers.cs プロジェクト: dermisfit/Paws
	/// <summary>
	/// Compute the mean of an array of quaternions
	/// </summary>
	/// <param name="targets">
	/// A <see cref="QuaternionInterpolationTarget[]"/>
	/// </param>
	/// <returns>
	/// A <see cref="Quaternion"/>
	/// </returns>
	public static Quaternion Mean(QuaternionInterpolationTarget[] targets)
	{
		Quaternion[] samples = new Quaternion[targets.Length];
		for (int i=0; i<targets.Length; i++)
			samples[i] = targets[i].quaternion;
		return Mean (samples);
	}
コード例 #4
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ファイル: QuaternionHelpers.cs プロジェクト: dermisfit/Paws
	public static Quaternion InterpolateSlime(QuaternionInterpolationTarget[] normalizedTargets, float oneOverListLength)
	{
		// get the reference quaternion
		Quaternion reference = Mean(normalizedTargets);
		
		// sum the logs of each quaternion in the space of the reference
		Vector4 sumOfWeightedQuaternions = Vector4.zero;
		for (int i=0; i<normalizedTargets.Length; i++)
			sumOfWeightedQuaternions += normalizedTargets[i].weight*Log(Quaternion.Inverse(reference)*normalizedTargets[i].quaternion);
		
		// multiply the reference quaternion by the result
		return reference * Exp(sumOfWeightedQuaternions);
	}
コード例 #5
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ファイル: QuaternionHelpers.cs プロジェクト: dermisfit/Paws
	/// <summary>
	/// Perform Slime interpolation across the targets
	/// Formula: reference*e^(sum(weight*ln(reference.conjugate*target.rotation)))
	/// See p.130, 136: http://alumni.media.mit.edu/~aries/papers/johnson_phd.pdf
	/// </summary>
	/// <param name="targets">
	/// A <see cref="QuaternionInterpolationTarget[]"/>
	/// </param>
	/// <returns>
	/// A <see cref="Quaternion"/>
	/// </returns>
	public static Quaternion InterpolateSlime(QuaternionInterpolationTarget[] targets)
	{
		// call other version of method
		return InterpolateSlime(NormalizeTargetWeights(targets), 1f/targets.Length);
	}
コード例 #6
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ファイル: QuaternionHelpers.cs プロジェクト: dermisfit/Paws
	/// <summary>
	/// A multiple interpolation algorithm that simply does a sequential nlerp
	/// </summary>
	/// <param name="normalizedTargets">
	/// A <see cref="QuaternionInterpolationTarget[]"/>
	/// </param>
	/// <returns>
	/// A <see cref="Quaternion"/>
	/// </returns>
	public static Quaternion InterpolateAverage(QuaternionInterpolationTarget[] normalizedTargets)
	{
		// the candidate return value
		Quaternion q = normalizedTargets[0].quaternion;
		for (int i=1; i<normalizedTargets.Length; i++)
			 q = Quaternion.Lerp(q, normalizedTargets[i].quaternion, normalizedTargets[i].weight);
		return q;
	}
コード例 #7
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ファイル: QuaternionHelpers.cs プロジェクト: dermisfit/Paws
	/// <summary>
	/// Perform a sequential slerp ala Maya's orientConstraint node
	/// </summary>
	/// <param name="normalizedTargets">
	/// A <see cref="QuaternionInterpolationTarget[]"/>
	/// </param>
	/// <param name="isShortPath">
	/// A <see cref="System.Boolean"/>
	/// </param>
	/// <param name="cache">
	/// A <see cref="Quaternion[]"/>
	/// </param>
	/// <returns>
	/// A <see cref="Quaternion"/>
	/// </returns>
	public static Quaternion SequentialSlerp(QuaternionInterpolationTarget[] normalizedTargets, bool isShortPath, ref Quaternion[] cache)
	{
		// the candidate return value
		Quaternion q = normalizedTargets[0].quaternion;
		
		for (int i=1; i<normalizedTargets.Length; i++)
		{
			if (isShortPath) q = Quaternion.Slerp(q, normalizedTargets[i].quaternion, normalizedTargets[i].weight);
			else q = SlerpLong(q, normalizedTargets[i].quaternion, normalizedTargets[i].weight);
		}
		
		// TODO: if using a caching mode, then do a neighborhood test
		
		// shift the cache and add the new result to the end of it
		for (int i=1; i<cache.Length; i++)
			cache[i-1] = cache[i];
		cache[cache.Length-1] = q;
		
		// return the result
		return q;
	}
コード例 #8
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ファイル: QuaternionHelpers.cs プロジェクト: dermisfit/Paws
	public static Quaternion Interpolate(QuaternionInterpolationTarget[] normalizedTargets, QuaternionInterpolationMode interpType, ref Quaternion[] cache, float oneOverListLength)
	{
		switch (interpType)
		{
		case QuaternionInterpolationMode.Average:
			return InterpolateAverage(normalizedTargets);
		case QuaternionInterpolationMode.Slime:
			return InterpolateSlime(normalizedTargets);
		case QuaternionInterpolationMode.Longest:
			return SequentialSlerp(normalizedTargets, false, ref cache);
		default:
			return SequentialSlerp(normalizedTargets, true, ref cache);
		}
	}
コード例 #9
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ファイル: QuaternionHelpers.cs プロジェクト: dermisfit/Paws
	/// <summary>
	/// Do an interpolation using the specified mode
	/// </summary>
	/// <param name="normalizedTargets">
	/// A <see cref="QuaternionInterpolationTarget[]"/>
	/// </param>
	/// <param name="interpType">
	/// A <see cref="QuaternionInterpolationMode"/>
	/// </param>
	/// <param name="cache">
	/// A <see cref="Quaternion[]"/>
	/// </param>
	/// <returns>
	/// A <see cref="Quaternion"/>
	/// </returns>
	public static Quaternion Interpolate(QuaternionInterpolationTarget[] normalizedTargets, QuaternionInterpolationMode interpType, ref Quaternion[] cache)
	{
		// pass in denominator
		return Interpolate(normalizedTargets, interpType, ref cache, 1f/normalizedTargets.Length);
	}
コード例 #10
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ファイル: QuaternionHelpers.cs プロジェクト: dermisfit/Paws
	/// <summary>
	/// Normalize the weights of an array of interpolation targets to 1.0
	/// </summary>
	/// <param name="targets">
	/// A <see cref="QuaternionInterpolationTarget[]"/>
	/// </param>
	/// <returns>
	/// A <see cref="QuaternionInterpolationTarget[]"/>
	/// </returns>
	public static QuaternionInterpolationTarget[] NormalizeTargetWeights(QuaternionInterpolationTarget[] targets)
	{
		float sumOfAllWeights = 0f;
		for (int i=0; i<targets.Length; i++)
			sumOfAllWeights += targets[i].weight;
		float oneOverSum = 1f/sumOfAllWeights;
		for (int i=0; i<targets.Length; i++)
			targets[i].weight *= oneOverSum;
		return targets;
	}