void Update()
{
if (NN.Parameters == null)
{
return;
}
if (activeSpline)
{
if (SplineController.Style.type == BezierSolution.BezierPoint.StatusMode.Wait && !Controller.waiting)
{
Controller.waiting = true;
Invoke("StopWaiting", Controller.getCurrentPoints()[0].timeout);
}
else
{
Vector3 targetDir = Controller.getTransition(transform);
TargetDirection = Vector3.Lerp(TargetDirection, targetDir, TargetBlending);
TargetVelocity = Vector3.Lerp(TargetVelocity, (Quaternion.LookRotation(TargetDirection, Vector3.up) * Controller.QueryMove()).normalized, TargetBlending);
}
}
else
{
//Update Target Direction / Velocity
TargetDirection = Vector3.Lerp(TargetDirection, Quaternion.AngleAxis(Controller.QueryTurn() * 60f, Vector3.up) * Trajectory.Points[RootPointIndex].GetDirection(), TargetBlending);
TargetVelocity = Vector3.Lerp(TargetVelocity, (Quaternion.LookRotation(TargetDirection, Vector3.up) * Controller.QueryMove()).normalized, TargetBlending);
}
//Update Gait
for (int i = 0; i < Controller.Styles.Length; i++)
{
Trajectory.Points[RootPointIndex].Styles[i] = Utility.Interpolate(Trajectory.Points[RootPointIndex].Styles[i], Controller.Styles[i].Query() ? 1f : 0f, GaitTransition);
}
//For Human Only
Trajectory.Points[RootPointIndex].Styles[0] = Utility.Interpolate(Trajectory.Points[RootPointIndex].Styles[0], 1.0f - Mathf.Clamp(Vector3.Magnitude(TargetVelocity) / 0.1f, 0.0f, 1.0f), GaitTransition);
Trajectory.Points[RootPointIndex].Styles[1] = Mathf.Max(Trajectory.Points[RootPointIndex].Styles[1] - Trajectory.Points[RootPointIndex].Styles[2], 0f);
//
/*
* //Blend Trajectory Offset
* Vector3 positionOffset = transform.position - Trajectory.Points[RootPointIndex].GetPosition();
* Quaternion rotationOffset = Quaternion.Inverse(Trajectory.Points[RootPointIndex].GetRotation()) * transform.rotation;
* Trajectory.Points[RootPointIndex].SetPosition(Trajectory.Points[RootPointIndex].GetPosition() + positionOffset);
* Trajectory.Points[RootPointIndex].SetDirection(rotationOffset * Trajectory.Points[RootPointIndex].GetDirection());
*
* for(int i=RootPointIndex; i<Trajectory.Points.Length; i++) {
* float factor = 1f - (i - RootPointIndex)/(RootPointIndex - 1f);
* Trajectory.Points[i].SetPosition(Trajectory.Points[i].GetPosition() + factor*positionOffset);
* }
*/
//Predict Future Trajectory
Vector3[] trajectory_positions_blend = new Vector3[Trajectory.Points.Length];
trajectory_positions_blend[RootPointIndex] = Trajectory.Points[RootPointIndex].GetPosition();
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
float bias_pos = 0.75f;
float bias_dir = 1.25f;
float scale_pos = (1.0f - Mathf.Pow(1.0f - ((float)(i - RootPointIndex) / (RootPointIndex)), bias_pos));
float scale_dir = (1.0f - Mathf.Pow(1.0f - ((float)(i - RootPointIndex) / (RootPointIndex)), bias_dir));
float vel_boost = PoolBias();
float rescale = 1f / (Trajectory.Points.Length - (RootPointIndex + 1f));
trajectory_positions_blend[i] = trajectory_positions_blend[i - 1] + Vector3.Lerp(
Trajectory.Points[i].GetPosition() - Trajectory.Points[i - 1].GetPosition(),
vel_boost * rescale * TargetVelocity,
scale_pos);
Trajectory.Points[i].SetDirection(Vector3.Lerp(Trajectory.Points[i].GetDirection(), TargetDirection, scale_dir));
for (int j = 0; j < Trajectory.Points[i].Styles.Length; j++)
{
Trajectory.Points[i].Styles[j] = Trajectory.Points[RootPointIndex].Styles[j];
}
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Points[i].SetPosition(trajectory_positions_blend[i]);
}
for (int i = RootPointIndex; i < Trajectory.Points.Length; i += PointDensity)
{
Trajectory.Points[i].Postprocess();
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
//ROOT 1 2 3 4 5
//.x....x.......x.......x.......x.......x
Trajectory.Point prev = GetPreviousSample(i);
Trajectory.Point next = GetNextSample(i);
float factor = (float)(i % PointDensity) / PointDensity;
Trajectory.Points[i].SetPosition((1f - factor) * prev.GetPosition() + factor * next.GetPosition());
Trajectory.Points[i].SetDirection((1f - factor) * prev.GetDirection() + factor * next.GetDirection());
Trajectory.Points[i].SetLeftsample((1f - factor) * prev.GetLeftSample() + factor * next.GetLeftSample());
Trajectory.Points[i].SetRightSample((1f - factor) * prev.GetRightSample() + factor * next.GetRightSample());
Trajectory.Points[i].SetSlope((1f - factor) * prev.GetSlope() + factor * next.GetSlope());
}
//Avoid Collisions
CollisionChecks(RootPointIndex + 1);
if (NN.Parameters != null)
{
//Calculate Root
Matrix4x4 currentRoot = Trajectory.Points[RootPointIndex].GetTransformation();
Matrix4x4 previousRoot = Trajectory.Points[RootPointIndex - 1].GetTransformation();
//Input Trajectory Positions / Directions
for (int i = 0; i < PointSamples; i++)
{
Vector3 pos = Trajectory.Points[i * PointDensity].GetPosition().GetRelativePositionTo(currentRoot);
Vector3 dir = Trajectory.Points[i * PointDensity].GetDirection().GetRelativeDirectionTo(currentRoot);
NN.SetInput(PointSamples * 0 + i, UnitScale * pos.x);
NN.SetInput(PointSamples * 1 + i, UnitScale * pos.z);
NN.SetInput(PointSamples * 2 + i, dir.x);
NN.SetInput(PointSamples * 3 + i, dir.z);
}
//Input Trajectory Gaits
for (int i = 0; i < PointSamples; i++)
{
for (int j = 0; j < Trajectory.Points[i * PointDensity].Styles.Length; j++)
{
NN.SetInput(PointSamples * (4 + j) + i, Trajectory.Points[i * PointDensity].Styles[j]);
}
//FOR HUMAN ONLY
NN.SetInput(PointSamples * 8 + i, Trajectory.Points[i * PointDensity].GetSlope());
//
}
//Input Previous Bone Positions / Velocities
for (int i = 0; i < Actor.Bones.Length; i++)
{
int o = 10 * PointSamples;
Vector3 pos = Positions[i].GetRelativePositionTo(previousRoot);
Vector3 vel = Velocities[i].GetRelativeDirectionTo(previousRoot);
NN.SetInput(o + Actor.Bones.Length * 3 * 0 + i * 3 + 0, UnitScale * pos.x);
NN.SetInput(o + Actor.Bones.Length * 3 * 0 + i * 3 + 1, UnitScale * pos.y);
NN.SetInput(o + Actor.Bones.Length * 3 * 0 + i * 3 + 2, UnitScale * pos.z);
NN.SetInput(o + Actor.Bones.Length * 3 * 1 + i * 3 + 0, UnitScale * vel.x);
NN.SetInput(o + Actor.Bones.Length * 3 * 1 + i * 3 + 1, UnitScale * vel.y);
NN.SetInput(o + Actor.Bones.Length * 3 * 1 + i * 3 + 2, UnitScale * vel.z);
}
//Input Trajectory Heights
for (int i = 0; i < PointSamples; i++)
{
int o = 10 * PointSamples + Actor.Bones.Length * 3 * 2;
NN.SetInput(o + PointSamples * 0 + i, UnitScale * (Trajectory.Points[i * PointDensity].GetRightSample().y - currentRoot.GetPosition().y));
NN.SetInput(o + PointSamples * 1 + i, UnitScale * (Trajectory.Points[i * PointDensity].GetPosition().y - currentRoot.GetPosition().y));
NN.SetInput(o + PointSamples * 2 + i, UnitScale * (Trajectory.Points[i * PointDensity].GetLeftSample().y - currentRoot.GetPosition().y));
}
//Predict
float rest = Mathf.Pow(1.0f - Trajectory.Points[RootPointIndex].Styles[0], 0.25f);
NN.SetDamping(1f - (rest * 0.9f + 0.1f));
NN.Predict();
//Update Past Trajectory
for (int i = 0; i < RootPointIndex; i++)
{
Trajectory.Points[i].SetPosition(Trajectory.Points[i + 1].GetPosition());
Trajectory.Points[i].SetDirection(Trajectory.Points[i + 1].GetDirection());
Trajectory.Points[i].SetLeftsample(Trajectory.Points[i + 1].GetLeftSample());
Trajectory.Points[i].SetRightSample(Trajectory.Points[i + 1].GetRightSample());
Trajectory.Points[i].SetSlope(Trajectory.Points[i + 1].GetSlope());
for (int j = 0; j < Trajectory.Points[i].Styles.Length; j++)
{
Trajectory.Points[i].Styles[j] = Trajectory.Points[i + 1].Styles[j];
}
}
//Update Current Trajectory
Trajectory.Points[RootPointIndex].SetPosition((rest * new Vector3(NN.GetOutput(0) / UnitScale, 0f, NN.GetOutput(1) / UnitScale)).GetRelativePositionFrom(currentRoot));
Trajectory.Points[RootPointIndex].SetDirection(Quaternion.AngleAxis(rest * Mathf.Rad2Deg * (-NN.GetOutput(2)), Vector3.up) * Trajectory.Points[RootPointIndex].GetDirection());
Trajectory.Points[RootPointIndex].Postprocess();
Matrix4x4 nextRoot = Trajectory.Points[RootPointIndex].GetTransformation();
//Update Future Trajectory
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
Trajectory.Points[i].SetPosition(Trajectory.Points[i].GetPosition() + (rest * new Vector3(NN.GetOutput(0) / UnitScale, 0f, NN.GetOutput(1) / UnitScale)).GetRelativeDirectionFrom(nextRoot));
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
int w = RootSampleIndex;
float m = Mathf.Repeat(((float)i - (float)RootPointIndex) / (float)PointDensity, 1.0f);
float posX = (1 - m) * NN.GetOutput(8 + (w * 0) + (i / PointDensity) - w) + m * NN.GetOutput(8 + (w * 0) + (i / PointDensity) - w + 1);
float posZ = (1 - m) * NN.GetOutput(8 + (w * 1) + (i / PointDensity) - w) + m * NN.GetOutput(8 + (w * 1) + (i / PointDensity) - w + 1);
float dirX = (1 - m) * NN.GetOutput(8 + (w * 2) + (i / PointDensity) - w) + m * NN.GetOutput(8 + (w * 2) + (i / PointDensity) - w + 1);
float dirZ = (1 - m) * NN.GetOutput(8 + (w * 3) + (i / PointDensity) - w) + m * NN.GetOutput(8 + (w * 3) + (i / PointDensity) - w + 1);
Trajectory.Points[i].SetPosition(
Utility.Interpolate(
Trajectory.Points[i].GetPosition(),
new Vector3(posX / UnitScale, 0f, posZ / UnitScale).GetRelativePositionFrom(nextRoot),
TrajectoryCorrection
)
);
Trajectory.Points[i].SetDirection(
Utility.Interpolate(
Trajectory.Points[i].GetDirection(),
new Vector3(dirX, 0f, dirZ).normalized.GetRelativeDirectionFrom(nextRoot),
TrajectoryCorrection
)
);
}
for (int i = RootPointIndex + PointDensity; i < Trajectory.Points.Length; i += PointDensity)
{
Trajectory.Points[i].Postprocess();
}
for (int i = RootPointIndex + 1; i < Trajectory.Points.Length; i++)
{
//ROOT 1 2 3 4 5
//.x....x.......x.......x.......x.......x
Trajectory.Point prev = GetPreviousSample(i);
Trajectory.Point next = GetNextSample(i);
float factor = (float)(i % PointDensity) / PointDensity;
Trajectory.Points[i].SetPosition((1f - factor) * prev.GetPosition() + factor * next.GetPosition());
Trajectory.Points[i].SetDirection((1f - factor) * prev.GetDirection() + factor * next.GetDirection());
Trajectory.Points[i].SetLeftsample((1f - factor) * prev.GetLeftSample() + factor * next.GetLeftSample());
Trajectory.Points[i].SetRightSample((1f - factor) * prev.GetRightSample() + factor * next.GetRightSample());
Trajectory.Points[i].SetSlope((1f - factor) * prev.GetSlope() + factor * next.GetSlope());
}
//Avoid Collisions
CollisionChecks(RootPointIndex);
//Compute Posture
int opos = 8 + 4 * RootSampleIndex + Actor.Bones.Length * 3 * 0;
int ovel = 8 + 4 * RootSampleIndex + Actor.Bones.Length * 3 * 1;
//int orot = 8 + 4*RootSampleIndex + Actor.Bones.Length*3*2;
for (int i = 0; i < Actor.Bones.Length; i++)
{
Vector3 position = new Vector3(NN.GetOutput(opos + i * 3 + 0), NN.GetOutput(opos + i * 3 + 1), NN.GetOutput(opos + i * 3 + 2)) / UnitScale;
Vector3 velocity = new Vector3(NN.GetOutput(ovel + i * 3 + 0), NN.GetOutput(ovel + i * 3 + 1), NN.GetOutput(ovel + i * 3 + 2)) / UnitScale;
//Quaternion rotation = new Quaternion(PFNN.GetOutput(orot+i*3+0), PFNN.GetOutput(orot+i*3+1), PFNN.GetOutput(orot+i*3+2), 0f).Exp();
Positions[i] = Vector3.Lerp(Positions[i].GetRelativePositionTo(currentRoot) + velocity, position, 0.5f).GetRelativePositionFrom(currentRoot);
Velocities[i] = velocity.GetRelativeDirectionFrom(currentRoot);
//rotations[i] = rotation.GetRelativeRotationFrom(currentRoot);
}
//Update Posture
transform.position = nextRoot.GetPosition();
transform.rotation = nextRoot.GetRotation();
for (int i = 0; i < Actor.Bones.Length; i++)
{
Actor.Bones[i].Transform.position = Positions[i];
Actor.Bones[i].Transform.rotation = Quaternion.LookRotation(Forwards[i], Ups[i]);
}
}
}
