protected override void DerivedDraw(MotionEditor editor)
{
UltiDraw.Begin();
Color[] colors = UltiDraw.GetRainbowColors(Sensors.Length);
if (ShowSensors)
{
for (int i = 0; i < Sensors.Length; i++)
{
for (int j = 0; j < Sensors[i].Bones.Length; j++)
{
Quaternion rot = editor.GetActor().FindTransform(Sensors[i].GetBoneName(j)).rotation;
Vector3 pos = editor.GetActor().FindTransform(Sensors[i].GetBoneName(j)).position + rot * Sensors[i].Offset;
UltiDraw.DrawCube(pos, rot, 0.025f, UltiDraw.Black);
UltiDraw.DrawWireSphere(pos, rot, 2f * Sensors[i].Threshold, colors[i].Opacity(0.25f));
if (Sensors[i].GetContact(editor.GetCurrentFrame(), editor.Mirror) == 1f)
{
UltiDraw.DrawSphere(pos, rot, 2f * Sensors[i].Threshold, colors[i]);
}
else
{
UltiDraw.DrawSphere(pos, rot, 2f * Sensors[i].Threshold, colors[i].Opacity(0.125f));
}
}
}
}
UltiDraw.End();
}
public void Sketch(Matrix4x4[] transformations, Color color)
{
if (Bones.Length == 0)
{
return;
}
UltiDraw.Begin();
if (transformations.Length != Bones.Length)
{
for (int i = 0; i < transformations.Length; i++)
{
UltiDraw.DrawCube(transformations[i], 0.02f, color);
}
}
else
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) => {
if (bone.GetParent() != null)
{
UltiDraw.DrawLine(transformations[bone.GetParent().Index].GetPosition(), transformations[bone.Index].GetPosition(), color);
}
UltiDraw.DrawCube(transformations[bone.Index], 0.02f, color);
for (int i = 0; i < bone.Childs.Length; i++)
{
recursion(bone.GetChild(i));
}
});
recursion(Bones[0]);
}
UltiDraw.End();
}
void Draw()
{
UltiDraw.Begin();
UltiDraw.SetCurvature(0f);
UltiDraw.DrawQuad(new Vector3(0f, 1f, 3f), Quaternion.identity, 10f, 10f, UltiDraw.DarkGrey);
UltiDraw.SetCurvature(0.25f);
UltiDraw.SetFilling(1f);
UltiDraw.DrawCube(new Vector3(-2f, 1f, 2f), Quaternion.identity, 1f, UltiDraw.Cyan);
UltiDraw.SetFilling(0f);
UltiDraw.DrawCube(new Vector3(0f, 1f, 2f), Quaternion.identity, 1f, UltiDraw.Cyan);
UltiDraw.SetFilling(1f);
UltiDraw.DrawSphere(new Vector3(-2f, 1f, 0f), Quaternion.identity, 1f, UltiDraw.Cyan);
UltiDraw.SetFilling(0f);
UltiDraw.DrawSphere(new Vector3(0f, 1f, 0f), Quaternion.identity, 1f, UltiDraw.Cyan);
UltiDraw.End();
Gizmos.color = UltiDraw.Cyan;
Gizmos.DrawCube(new Vector3(2f, 1f, 2f), Vector3.one);
Gizmos.DrawSphere(new Vector3(2f, 1f, 0f), 0.5f);
}
public void Sketch(Matrix4x4[] transformations, Color color)
{
UltiDraw.Begin();
if (transformations.Length != Bones.Length)
{
Debug.Log("Number of given transformations does not match number of bones.");
}
else
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) => {
Matrix4x4 current = transformations[bone.Index];
if (bone.GetParent() != null)
{
Matrix4x4 parent = transformations[bone.GetParent().Index];
UltiDraw.DrawLine(parent.GetPosition(), current.GetPosition(), color);
}
UltiDraw.DrawCube(current.GetPosition(), current.GetRotation(), 0.02f, color);
for (int i = 0; i < bone.Childs.Length; i++)
{
recursion(bone.GetChild(i));
}
});
foreach (Bone bone in GetRootBones())
{
recursion(bone);
}
}
UltiDraw.End();
}
public void Draw(int step = 1)
{
UltiDraw.Begin();
Color[] colors = UltiDraw.GetRainbowColors(Styles.Length);
//Connections，黑线连接评估点，这些点以step=10为间隔就画一个，总共12个，历史6个，当前1个，预测5个
for (int i = 0; i < Points.Length - step; i += step)
{
UltiDraw.DrawLine(Points[i].GetPosition(), Points[i + step].GetPosition(), 0.01f, UltiDraw.Black);
}
//Velocities
for (int i = 0; i < Points.Length; i += step)
{
//Vector3 start = Points[i].GetPosition();
//Vector3 end = Points[i].GetPosition() + Points[i].GetVelocity();
//end = Utility.ProjectGround(end, LayerMask.GetMask("Ground"));
//UltiDraw.DrawLine(start, end, 0.025f, 0f, UltiDraw.DarkGreen.Transparent(0.5f));
/*
* float r = 0f;
* float g = 0f;
* float b = 0f;
* for(int j=0; j<Points[i].Styles.Length; j++) {
* r += Points[i].Styles[j] * colors[j].r;
* g += Points[i].Styles[j] * colors[j].g;
* b += Points[i].Styles[j] * colors[j].b;
* }
* UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].GetVelocity(), 0.025f, 0f, new Color(r, g, b, 0.5f));
*/
//UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].GetVelocity(), 0.025f, 0f, UltiDraw.DarkGreen.Transparent(0.5f));
}
//Directions，黄色线画个间隔点的方向
for (int i = 0; i < Points.Length; i += step)
{
//Vector3 start = Points[i].GetPosition();
//Vector3 end = Points[i].GetPosition() + 0.25f * Points[i].GetDirection();
//end = Utility.ProjectGround(end, LayerMask.GetMask("Ground"));
//UltiDraw.DrawLine(start, end, 0.025f, 0f, UltiDraw.Orange.Transparent(0.75f));
UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + 0.25f * Points[i].GetDirection(), 0.025f, 0f, UltiDraw.Orange.Transparent(0.75f));
}
//Styles，方块的颜色是什么信息呢？
if (Styles.Length > 0)
{
for (int i = 0; i < Points.Length; i += step)
{
float r = 0f;
float g = 0f;
float b = 0f;
for (int j = 0; j < Points[i].Styles.Length; j++)
{
r += Points[i].Styles[j] * colors[j].r;
g += Points[i].Styles[j] * colors[j].g;
b += Points[i].Styles[j] * colors[j].b;
}
Color color = new Color(r, g, b, 1f);
UltiDraw.DrawCube(Points[i].GetPosition(), Points[i].GetRotation(), 0.05f, color);
}
}
//Signals
/*
* if(Styles.Length > 0) {
* for(int i=0; i<Points.Length; i+=step) {
* Color color = UltiDraw.Black;
* for(int j=0; j<Points[i].Signals.Length; j++) {
* if(Points[i].Signals[j]) {
* color = colors[j];
* break;
* }
* }
* UltiDraw.DrawCone(Points[i].GetPosition(), Quaternion.identity, 0.1f, 0.1f, color);
* }
* }
*/
/*
* //Speed
* for(int i=0; i<Points.Length; i+=step) {
* float r = 0f;
* float g = 0f;
* float b = 0f;
* for(int j=0; j<Points[i].Styles.Length; j++) {
* r += Points[i].Styles[j] * colors[j].r;
* g += Points[i].Styles[j] * colors[j].g;
* b += Points[i].Styles[j] * colors[j].b;
* }
* UltiDraw.DrawArrow(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].GetSpeed() * Points[i].GetTransformation().GetForward(), 0.8f, 0.02f, 0.04f, new Color(r, g, b, 0.5f));
* }
*/
//Projections
//for(int i=0; i<Points.Length; i+=step) {
// Vector3 right = Points[i].GetRightSample();
// Vector3 left = Points[i].GetLeftSample();
// UltiDraw.DrawCircle(right, 0.01f, UltiDraw.Yellow);
// UltiDraw.DrawCircle(left, 0.01f, UltiDraw.Yellow);
//}
//Slopes
//for(int i=0; i<Points.Length; i+=step) {
// UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + 1f * Points[i].GetSlope() * Vector3.up, 0.025f, 0f, UltiDraw.Blue.Transparent(0.75f));
//}
//Positions，间隔点再画上黑圈
for (int i = 0; i < Points.Length; i += step)
{
UltiDraw.DrawCircle(Points[i].GetPosition(), 0.025f, UltiDraw.Black);
}
//Phase，周期信息是怎么画的呢，为什么demo上看不到？
for (int i = 0; i < Points.Length; i += step)
{
//UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].Phase*Vector3.up, UltiDraw.IndianRed);
UltiDraw.DrawArrow(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].Phase * Vector3.up, 0.8f, 0.025f, 0.05f, UltiDraw.IndianRed.Transparent(0.5f));
//UltiDraw.DrawSphere(Points[i].GetPosition(), Quaternion.identity, Points[i].PhaseUpdate / 10f, UltiDraw.Purple.Transparent(0.25f));
}
/*
* List<float[]> signal = new List<float[]>();
* for(int i=0; i<Styles.Length; i++) {
* float[] s = new float[Points.Length];
* for(int j=0; j<Points.Length; j++) {
* s[j] = Points[j].Signals[i];
* }
* signal.Add(s);
* }
* List<float[]> signalInput = new List<float[]>();
* for(int i=0; i<Styles.Length; i++) {
* float[] s = new float[Points.Length];
* for(int j=0; j<Points.Length; j++) {
* s[j] = Points[j].Signals[i] - Points[j].Styles[i];
* }
* signalInput.Add(s);
* }
* List<float[]> stateInput = new List<float[]>();
* for(int i=0; i<Styles.Length; i++) {
* float[] s = new float[Points.Length];
* for(int j=0; j<Points.Length; j++) {
* s[j] = Points[j].Styles[i];
* }
* stateInput.Add(s);
* }
* UltiDraw.DrawGUIFunctions(new Vector2(0.5f, 0.4f), new Vector2(0.75f, 0.1f), signal, 0f, 1f, UltiDraw.DarkGrey, colors);
* UltiDraw.DrawGUIFunctions(new Vector2(0.5f, 0.25f), new Vector2(0.75f, 0.1f), stateInput, 0f, 1f, UltiDraw.DarkGrey, colors);
* UltiDraw.DrawGUIFunctions(new Vector2(0.5f, 0.1f), new Vector2(0.75f, 0.1f), signalInput, -1f, 1f, UltiDraw.DarkGrey, colors);
*/
UltiDraw.End();
}
void Draw()
{
float speed = 100f;
float spacing = 1.5f;
float height = 1f;
int index = 0;
Color[] colors = UltiDraw.GetRainbowColors(9);
UltiDraw.Begin();
UltiDraw.SetDepthRendering(DepthRendering);
UltiDraw.SetCurvature(0f);
UltiDraw.DrawQuad(Vector3.zero, Quaternion.Euler(90f, 0f, 0f), 100f, 100f, UltiDraw.DarkGrey);
UltiDraw.SetCurvature(0.25f);
UltiDraw.DrawGrid(Vector3.zero, Quaternion.identity, 100, 100, 1f, 1f, UltiDraw.DarkGreen.Transparent(0.5f));
UltiDraw.DrawWireCube(new Vector3(index * spacing, height, 0f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, colors[index]);
UltiDraw.DrawCube(new Vector3(index * spacing, height, 1f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, colors[index]);
UltiDraw.DrawWiredCube(new Vector3(index * spacing, height, 2f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, colors[index], UltiDraw.White);
index += 1;
UltiDraw.DrawWireSphere(new Vector3(index * spacing, height, 0f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, colors[index]);
UltiDraw.DrawSphere(new Vector3(index * spacing, height, 1f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, colors[index]);
UltiDraw.DrawWiredSphere(new Vector3(index * spacing, height, 2f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, colors[index], UltiDraw.White);
index += 1;
UltiDraw.DrawWireCapsule(new Vector3(index * spacing, height, 0f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index]);
UltiDraw.DrawCapsule(new Vector3(index * spacing, height, 1f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index]);
UltiDraw.DrawWiredCapsule(new Vector3(index * spacing, height, 2f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index], UltiDraw.White);
index += 1;
UltiDraw.DrawWireBone(new Vector3(index * spacing, height - 0.5f, 0f * spacing), Quaternion.Euler(-90f, speed * Time.time, 0f), 1f, 1f, colors[index]);
UltiDraw.DrawBone(new Vector3(index * spacing, height - 0.5f, 1f * spacing), Quaternion.Euler(-90f, speed * Time.time, 0f), 1f, 1f, colors[index]);
UltiDraw.DrawWiredBone(new Vector3(index * spacing, height - 0.5f, 2f * spacing), Quaternion.Euler(-90f, speed * Time.time, 0f), 1f, 1f, colors[index], UltiDraw.White);
index += 1;
UltiDraw.DrawWireCylinder(new Vector3(index * spacing, height, 0f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index]);
UltiDraw.DrawCylinder(new Vector3(index * spacing, height, 1f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index]);
UltiDraw.DrawWiredCylinder(new Vector3(index * spacing, height, 2f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index], UltiDraw.White);
index += 1;
UltiDraw.DrawWirePyramid(new Vector3(index * spacing, height - 0.5f, 0f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, 1f, colors[index]);
UltiDraw.DrawPyramid(new Vector3(index * spacing, height - 0.5f, 1f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, 1f, colors[index]);
UltiDraw.DrawWiredPyramid(new Vector3(index * spacing, height - 0.5f, 2f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 1f, 1f, colors[index], UltiDraw.White);
index += 1;
UltiDraw.DrawWireCone(new Vector3(index * spacing, height - 0.5f, 0f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.75f, 1f, colors[index]);
UltiDraw.DrawCone(new Vector3(index * spacing, height - 0.5f, 1f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.75f, 1f, colors[index]);
UltiDraw.DrawWiredCone(new Vector3(index * spacing, height - 0.5f, 2f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.75f, 1f, colors[index], UltiDraw.White);
index += 1;
UltiDraw.DrawWireCuboid(new Vector3(index * spacing, height, 0f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), new Vector3(0.5f, 1f, 0.5f), colors[index]);
UltiDraw.DrawCuboid(new Vector3(index * spacing, height, 1f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), new Vector3(0.5f, 1f, 0.5f), colors[index]);
UltiDraw.DrawWiredCuboid(new Vector3(index * spacing, height, 2f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), new Vector3(0.5f, 1f, 0.5f), colors[index], UltiDraw.White);
index += 1;
UltiDraw.DrawWireEllipsoid(new Vector3(index * spacing, height, 0f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index]);
UltiDraw.DrawEllipsoid(new Vector3(index * spacing, height, 1f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index]);
UltiDraw.DrawWiredEllipsoid(new Vector3(index * spacing, height, 2f * spacing), Quaternion.Euler(0f, speed * Time.time, 0f), 0.5f, 1f, colors[index], UltiDraw.White);
index += 1;
UltiDraw.End();
}
public void Draw(int step = 1)
{
UltiDraw.Begin();
Color[] colors = UltiDraw.GetRainbowColors(Styles);
//Connections
for (int i = 0; i < Points.Length - step; i += step)
{
UltiDraw.DrawLine(Points[i].GetPosition(), Points[i + step].GetPosition(), 0.01f, UltiDraw.Black);
}
//Velocities
for (int i = 0; i < Points.Length; i += step)
{
//Vector3 start = Points[i].GetPosition();
//Vector3 end = Points[i].GetPosition() + Points[i].GetVelocity();
//end = Utility.ProjectGround(end, LayerMask.GetMask("Ground"));
//UltiDraw.DrawLine(start, end, 0.025f, 0f, UltiDraw.DarkGreen.Transparent(0.5f));
/*
* float r = 0f;
* float g = 0f;
* float b = 0f;
* for(int j=0; j<Points[i].Styles.Length; j++) {
* r += Points[i].Styles[j] * colors[j].r;
* g += Points[i].Styles[j] * colors[j].g;
* b += Points[i].Styles[j] * colors[j].b;
* }
* UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].GetVelocity(), 0.025f, 0f, new Color(r, g, b, 0.5f));
*/
//UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].GetVelocity(), 0.025f, 0f, UltiDraw.DarkGreen.Transparent(0.5f));
}
//Directions
for (int i = 0; i < Points.Length; i += step)
{
//Vector3 start = Points[i].GetPosition();
//Vector3 end = Points[i].GetPosition() + 0.25f * Points[i].GetDirection();
//end = Utility.ProjectGround(end, LayerMask.GetMask("Ground"));
//UltiDraw.DrawLine(start, end, 0.025f, 0f, UltiDraw.Orange.Transparent(0.75f));
UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + 0.25f * Points[i].GetDirection(), 0.025f, 0f, UltiDraw.Orange.Transparent(0.75f));
}
//Styles
if (Styles > 0)
{
for (int i = 0; i < Points.Length; i += step)
{
float r = 0f;
float g = 0f;
float b = 0f;
for (int j = 0; j < Points[i].Styles.Length; j++)
{
r += Points[i].Styles[j] * colors[j].r;
g += Points[i].Styles[j] * colors[j].g;
b += Points[i].Styles[j] * colors[j].b;
}
UltiDraw.DrawCube(Points[i].GetPosition(), Points[i].GetRotation(), 0.05f, new Color(r, g, b, 1f));
}
}
/*
* //Speed
* for(int i=0; i<Points.Length; i+=step) {
* float r = 0f;
* float g = 0f;
* float b = 0f;
* for(int j=0; j<Points[i].Styles.Length; j++) {
* r += Points[i].Styles[j] * colors[j].r;
* g += Points[i].Styles[j] * colors[j].g;
* b += Points[i].Styles[j] * colors[j].b;
* }
* UltiDraw.DrawArrow(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].GetSpeed() * Points[i].GetTransformation().GetForward(), 0.8f, 0.02f, 0.04f, new Color(r, g, b, 0.5f));
* }
*/
//Projections
//for(int i=0; i<Points.Length; i+=step) {
// Vector3 right = Points[i].GetRightSample();
// Vector3 left = Points[i].GetLeftSample();
// UltiDraw.DrawCircle(right, 0.01f, UltiDraw.Yellow);
// UltiDraw.DrawCircle(left, 0.01f, UltiDraw.Yellow);
//}
//Slopes
//for(int i=0; i<Points.Length; i+=step) {
// UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + 1f * Points[i].GetSlope() * Vector3.up, 0.025f, 0f, UltiDraw.Blue.Transparent(0.75f));
//}
//Positions
for (int i = 0; i < Points.Length; i += step)
{
UltiDraw.DrawCircle(Points[i].GetPosition(), 0.025f, UltiDraw.Black);
}
//Phase
for (int i = 0; i < Points.Length; i += step)
{
UltiDraw.DrawLine(Points[i].GetPosition(), Points[i].GetPosition() + Points[i].Phase * Vector3.up, UltiDraw.IndianRed);
}
UltiDraw.End();
}
void OnRenderObject()
{
if (Application.isPlaying)
{
if (NN.Parameters == null)
{
return;
}
if (AnimationAuthoring == null)
{
return;
}
if (AnimationAuthoring.ControlPoints.Count <= 0)
{
return;
}
if (ShowAuthoring)
{
UltiDraw.SetDepthRendering(true);
AnimationAuthoring.StyleColors = new Color[] { AnimationAuthoring.Idle, AnimationAuthoring.Move, AnimationAuthoring.Jump, AnimationAuthoring.Sit, AnimationAuthoring.Stand, AnimationAuthoring.Lie, AnimationAuthoring.Sneak, AnimationAuthoring.Eat, AnimationAuthoring.Hydrate };
if (MotionTime <= 0.0f)
{
MotionTime = AnimationAuthoring.GetControlPoint(AnimationAuthoring.RefTimestamp, 0).GetMotionTime();
}
if (MotionTime > 0.0f)
{
GUIStyle style = new GUIStyle();
style.normal.textColor = UltiDraw.Red;
style.fontSize = 20;
Vector3 pos = AnimationAuthoring.GetLookUpPoint(AnimationAuthoring.RefTimestamp).GetPosition();
#if UNITY_EDITOR
Handles.Label(new Vector3(pos.x, pos.y + 1f, pos.z), string.Format("{0:0.0}s", MotionTime), style);
#endif
}
int countCpInspector = 0;
foreach (ControlPoint cp in AnimationAuthoring.ControlPoints)
{
if (cp.Inspector)
{
countCpInspector++;
}
else
{
continue;
}
//AnimationAuthoring.LabelCP(cp, (countCpInspector - 1).ToString());
UltiDraw.Begin();
UltiDraw.DrawSphere(AnimationAuthoring.GetGroundPosition(cp.GetPosition(), cp.Ground), Quaternion.identity, 0.1f, UltiDraw.Red);
UltiDraw.End();
}
Color[] colors = AnimationAuthoring.StyleColors;
for (int i = 0; i < AnimationAuthoring.LookUpPoints.Length; i++)
{
//draw every 4th point
if ((i % (4 * AnimationAuthoring.TimeInterval) != 0) || !AnimationAuthoring.GetControlPoint(i * AnimationAuthoring.TimeDelta, +1).Inspector)
{
continue;
}
float r = 0f;
float g = 0f;
float b = 0f;
for (int j = 0; j < AnimationAuthoring.LookUpPoints[i].GetStyle().Length; j++)
{
r += AnimationAuthoring.LookUpPoints[i].GetStyle()[j] * colors[j].r;
g += AnimationAuthoring.LookUpPoints[i].GetStyle()[j] * colors[j].g;
b += AnimationAuthoring.LookUpPoints[i].GetStyle()[j] * colors[j].b;
}
Color color = new Color(r, g, b, 1f);
UltiDraw.Begin();
UltiDraw.DrawCube(AnimationAuthoring.GetPointPositon(i * AnimationAuthoring.TimeDelta), Quaternion.identity, 0.05f, color);
UltiDraw.End();
}
}
if (ShowTrajectory)
{
UltiDraw.SetDepthRendering(false);
UltiDraw.Begin();
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetDirection, 0.05f, 0f, UltiDraw.Red.Transparent(0.75f));
UltiDraw.DrawLine(Trajectory.Points[RootPointIndex].GetPosition(), Trajectory.Points[RootPointIndex].GetPosition() + TargetVelocity, 0.05f, 0f, UltiDraw.Green.Transparent(0.75f));
UltiDraw.End();
Trajectory.Draw(10);
}
if (ShowVelocities)
{
UltiDraw.SetDepthRendering(false);
UltiDraw.Begin();
for (int i = 0; i < Actor.Bones.Length; i++)
{
UltiDraw.DrawArrow(
Actor.Bones[i].Transform.position,
Actor.Bones[i].Transform.position + Velocities[i],
0.75f,
0.0075f,
0.05f,
UltiDraw.Purple.Transparent(0.5f)
);
}
UltiDraw.End();
}
float[] a = new float[100];
for (int i = 0; i < a.Length; i++)
{
float x = (float)i / (float)(a.Length - 1);
a[i] = SmoothStep(x, 2f, .8f);
}
UltiDraw.Begin();
//UltiDraw.DrawGUIFunction(new Vector2(0.5f, 0.5f), new Vector2(1f, 1f), a, 0f, 1f, Color.white, Color.black);
UltiDraw.End();
if (DrawLatentSpaces)
{
UltiDraw.SetDepthRendering(false);
UltiDraw.Begin();
float YMin = 0f;
float YMax = 0f;
Tensor t0 = NN.GetTensor("W0");
Tensor t1 = NN.GetTensor("W1");
Tensor t2 = NN.GetTensor("W2");
float[] arr0 = new float[t0.GetCols()];
float[] arr1 = new float[t1.GetCols()];
float[] arr2 = new float[t2.GetCols()];
for (int i = 0; i < t0.GetCols(); i++)
{
float x = (float)i / (float)(arr0.Length - 1);
//arr[i] = SmoothStep(x, 2f, .8f);
float colMean = 0f;
for (int j = 0; j < t0.GetRows(); j++)
{
colMean += t0.GetValue(j, i);
}
arr0[i] = colMean;
}
for (int i = 0; i < t1.GetCols(); i++)
{
float x = (float)i / (float)(arr1.Length - 1);
//arr[i] = SmoothStep(x, 2f, .8f);
float colMean = 0f;
for (int j = 0; j < t1.GetRows(); j++)
{
colMean += t1.GetValue(j, i);
}
arr1[i] = colMean;
}
for (int i = 0; i < t2.GetCols(); i++)
{
float x = (float)i / (float)(arr2.Length - 1);
//arr[i] = SmoothStep(x, 2f, .8f);
float colMean = 0f;
for (int j = 0; j < t2.GetRows(); j++)
{
colMean += t2.GetValue(j, i);
}
arr2[i] = colMean;
}
YMin = -10f;
YMax = 10f;
UltiDraw.DrawGUIFunction(new Vector2(0.5f, 0.9f), new Vector2(0.4f, 0.1f), arr0, YMin, YMax, UltiDraw.LightGrey, UltiDraw.Black, 0.002f, UltiDraw.BlackGrey);
YMin = -16f;
YMax = 13f;
UltiDraw.DrawGUIFunction(new Vector2(0.5f, 0.79f), new Vector2(0.4f, 0.1f), arr1, YMin, YMax, UltiDraw.LightGrey, UltiDraw.Black, 0.002f, UltiDraw.BlackGrey);
YMin = -2f;
YMax = 2f;
UltiDraw.DrawGUIFunction(new Vector2(0.5f, 0.68f), new Vector2(0.4f, 0.1f), arr2, YMin, YMax, UltiDraw.LightGrey, UltiDraw.Black, 0.002f, UltiDraw.BlackGrey);
UltiDraw.End();
}
}
}
protected override void DerivedDraw(MotionEditor editor)
{
UltiDraw.Begin();
Frame frame = editor.GetCurrentFrame();
Color[] colors = UltiDraw.GetRainbowColors(Sensors.Length);
if (ShowDebug)
{
for (int i = 0; i < Sensors.Length; i++)
{
if (Sensors[i].GetContact(frame, editor.Mirror) == 1f)
{
Vector3 contact = Sensors[i].GetContactPoint(frame, editor.Mirror);
Vector3 corrected = Sensors[i].GetCorrectedContactPoint(frame, editor.Mirror);
UltiDraw.DrawArrow(contact, corrected, 0.8f, 0.01f, DrawScale * 0.025f, colors[i].Transparent(0.5f));
UltiDraw.DrawSphere(contact, Quaternion.identity, DrawScale * 0.025f, UltiDraw.Yellow);
UltiDraw.DrawSphere(corrected, Quaternion.identity, DrawScale * 0.05f, UltiDraw.Gold.Transparent(0.5f));
}
}
for (int i = 0; i < Sensors.Length; i++)
{
Matrix4x4 bone = frame.GetBoneTransformation(Sensors[i].Bone, editor.Mirror);
Matrix4x4 corrected = Sensors[i].GetCorrectedTransformation(frame, editor.Mirror);
UltiDraw.DrawCube(bone, DrawScale * 0.025f, UltiDraw.DarkRed.Transparent(0.5f));
UltiDraw.DrawLine(bone.GetPosition(), corrected.GetPosition(), colors[i].Transparent(0.5f));
UltiDraw.DrawCube(corrected, DrawScale * 0.025f, UltiDraw.DarkGreen.Transparent(0.5f));
}
}
if (ShowSensors)
{
for (int i = 0; i < Sensors.Length; i++)
{
Quaternion rot = editor.GetActor().GetBoneTransformation(Sensors[i].GetName()).GetRotation();
Vector3 pos = editor.GetActor().GetBoneTransformation(Sensors[i].GetName()).GetPosition() + rot * Sensors[i].Offset;
UltiDraw.DrawCube(pos, rot, DrawScale * 0.025f, UltiDraw.Black);
UltiDraw.DrawWireSphere(pos, rot, 2f * Sensors[i].Threshold, colors[i].Transparent(0.25f));
if (Sensors[i].GetContact(frame, editor.Mirror) == 1f)
{
UltiDraw.DrawSphere(pos, rot, 2f * Sensors[i].Threshold, colors[i]);
}
else
{
UltiDraw.DrawSphere(pos, rot, 2f * Sensors[i].Threshold, colors[i].Transparent(0.125f));
}
}
}
if (ShowTolerances)
{
for (int i = 0; i < Sensors.Length; i++)
{
Quaternion rot = editor.GetActor().GetBoneTransformation(Sensors[i].GetName()).GetRotation();
Vector3 pos = editor.GetActor().GetBoneTransformation(Sensors[i].GetName()).GetPosition() + rot * Sensors[i].Offset;
UltiDraw.DrawWireSphere(pos, rot, 2f * (Sensors[i].Tolerance + Sensors[i].Threshold), UltiDraw.DarkGrey.Transparent(0.25f));
}
}
if (ShowContacts)
{
for (int i = 0; i < Sensors.Length; i++)
{
if (Sensors[i].Edit != Sensor.ID.None)
{
for (float j = 0f; j <= Data.GetTotalTime(); j += Mathf.Max(Step, 1) / Data.Framerate)
{
Frame reference = Data.GetFrame(j);
if (Sensors[i].GetContact(reference, editor.Mirror) == 1f)
{
UltiDraw.DrawSphere(Sensors[i].GetContactPoint(reference, editor.Mirror), Quaternion.identity, DrawScale * 0.025f, colors[i]);
}
}
}
}
}
/*
* if(ShowSkeletons) {
* UltiDraw.End();
* float start = Mathf.Clamp(frame.Timestamp-Window, 0f, Data.GetTotalTime());
* float end = Mathf.Clamp(frame.Timestamp+Window, 0f, Data.GetTotalTime());
* float inc = Mathf.Max(SkeletonStep, 1)/Data.Framerate;
* for(float j=start; j<=end; j+=inc) {
* Frame reference = Data.GetFrame(j);
* float weight = (j-start+inc) / (end-start+inc);
* editor.GetActor().Sketch(reference.GetBoneTransformations(editor.GetActor().GetBoneNames(), editor.Mirror), Color.Lerp(UltiDraw.Cyan, UltiDraw.Magenta, weight).Transparent(weight));
* }
* UltiDraw.Begin();
* }
*/
if (TrueMotionTrajectory || CorrectedMotionTrajectory)
{
for (int i = 0; i < Sensors.Length; i++)
{
if (Sensors[i].Edit != Sensor.ID.None)
{
Vector3 previousPos = Vector3.zero;
Vector3 previousCorrected = Vector3.zero;
float start = Mathf.Clamp(frame.Timestamp - PastTrajectoryWindow, 0f, Data.GetTotalTime());
float end = Mathf.Clamp(frame.Timestamp + FutureTrajectoryWindow, 0f, Data.GetTotalTime());
for (float j = start; j <= end; j += Mathf.Max(Step, 1) / Data.Framerate)
{
Frame reference = Data.GetFrame(j);
Matrix4x4 bone = reference.GetBoneTransformation(Sensors[i].Bone, editor.Mirror);
Matrix4x4 corrected = Sensors[i].GetCorrectedTransformation(reference, editor.Mirror);
if (j > start)
{
if (TrueMotionTrajectory)
{
UltiDraw.DrawArrow(previousPos, bone.GetPosition(), 0.8f, DrawScale * 0.005f, DrawScale * 0.025f, UltiDraw.DarkRed.Lighten(0.5f).Transparent(0.5f));
}
if (CorrectedMotionTrajectory)
{
UltiDraw.DrawArrow(previousCorrected, corrected.GetPosition(), 0.8f, DrawScale * 0.005f, DrawScale * 0.025f, UltiDraw.DarkGreen.Lighten(0.5f).Transparent(0.5f));
}
//UltiDraw.DrawLine(previousPos, bone.GetPosition(), UltiDraw.DarkRed.Transparent(0.5f));
//UltiDraw.DrawLine(previousCorrected, corrected.GetPosition(), UltiDraw.DarkGreen.Transparent(0.5f));
}
previousPos = bone.GetPosition();
previousCorrected = corrected.GetPosition();
if (TrueMotionTrajectory)
{
UltiDraw.DrawCube(bone, DrawScale * 0.025f, UltiDraw.DarkRed.Transparent(0.5f));
}
//UltiDraw.DrawLine(bone.GetPosition(), corrected.GetPosition(), colors[i].Transparent(0.5f));
if (CorrectedMotionTrajectory)
{
UltiDraw.DrawCube(corrected, DrawScale * 0.025f, UltiDraw.DarkGreen.Transparent(0.5f));
}
}
}
}
}
if (ContactTrajectories)
{
for (int i = 0; i < Sensors.Length; i++)
{
if (Sensors[i].Edit != Sensor.ID.None)
{
float start = Mathf.Clamp(frame.Timestamp - Window, 0f, Data.GetTotalTime());
float end = Mathf.Clamp(frame.Timestamp + Window, 0f, Data.GetTotalTime());
for (float j = 0f; j <= Data.GetTotalTime(); j += Mathf.Max(Step, 1) / Data.Framerate)
{
Frame reference = Data.GetFrame(j);
if (Sensors[i].GetContact(reference, editor.Mirror) == 1f)
{
Vector3 contact = Sensors[i].GetContactPoint(reference, editor.Mirror);
Vector3 corrected = Sensors[i].GetCorrectedContactPoint(reference, editor.Mirror);
UltiDraw.DrawArrow(contact, corrected, 0.8f, Vector3.Distance(contact, corrected) * DrawScale * 0.025f, Vector3.Distance(contact, corrected) * DrawScale * 0.1f, colors[i].Lighten(0.5f).Transparent(0.5f));
UltiDraw.DrawSphere(contact, Quaternion.identity, DrawScale * 0.0125f, colors[i].Transparent(0.5f));
UltiDraw.DrawSphere(corrected, Quaternion.identity, DrawScale * 0.05f, colors[i]);
}
}
}
}
}
if (ShowDistances)
{
for (int i = 0; i < Sensors.Length; i++)
{
if (Sensors[i].Edit != Sensor.ID.None)
{
for (float j = frame.Timestamp - PastTrajectoryWindow; j <= frame.Timestamp + FutureTrajectoryWindow; j += Mathf.Max(Step, 1) / Data.Framerate)
{
Frame reference = Data.GetFrame(j);
if (Sensors[i].GetContact(reference, editor.Mirror) == 1f)
{
UltiDraw.DrawArrow(Sensors[i].GetContactPoint(reference, editor.Mirror), Sensors[i].GetContactPoint(reference, editor.Mirror) - Sensors[i].GetContactDistance(reference, editor.Mirror), 0.8f, DrawScale * 0.0025f, DrawScale * 0.01f, colors[i].Transparent(0.5f));
}
}
}
}
}
UltiDraw.End();
}
public void Draw()
{
UltiDraw.Begin();
if (DrawRoot)
{
UltiDraw.DrawCube(GetRoot().position, GetRoot().rotation, 0.1f, UltiDraw.Black);
UltiDraw.DrawTranslateGizmo(GetRoot().position, GetRoot().rotation, 0.1f);
}
if (DrawSkeleton)
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) => {
if (bone.GetParent() != null)
{
UltiDraw.DrawBone(
bone.GetParent().Transform.position,
Quaternion.FromToRotation(bone.GetParent().Transform.forward, bone.Transform.position - bone.GetParent().Transform.position) * bone.GetParent().Transform.rotation,
12.5f * BoneSize * bone.GetLength(), bone.GetLength(),
bone.Color == UltiDraw.None ? BoneColor : bone.Color
);
}
UltiDraw.DrawSphere(
bone.Transform.position,
Quaternion.identity,
5f / 8f * BoneSize,
JointColor
);
for (int i = 0; i < bone.Childs.Length; i++)
{
recursion(bone.GetChild(i));
}
});
foreach (Bone bone in GetRootBones())
{
recursion(bone);
}
}
if (DrawVelocities)
{
for (int i = 0; i < Bones.Length; i++)
{
UltiDraw.DrawArrow(
Bones[i].Transform.position,
Bones[i].Transform.position + Bones[i].Velocity,
0.75f,
0.0075f,
0.05f,
UltiDraw.DarkGreen.Opacity(0.5f)
);
}
}
if (DrawTransforms)
{
Action <Bone> recursion = null;
recursion = new Action <Bone>((bone) => {
UltiDraw.DrawTranslateGizmo(bone.Transform.position, bone.Transform.rotation, 0.05f);
for (int i = 0; i < bone.Childs.Length; i++)
{
recursion(bone.GetChild(i));
}
});
foreach (Bone bone in GetRootBones())
{
recursion(bone);
}
}
UltiDraw.End();
if (DrawSketch)
{
Sketch(GetBoneTransformations(), BoneColor);
}
if (DrawHistory)
{
if (DrawSkeleton)
{
int step = Mathf.Max(Sampling, 1);
for (int i = 0; i < History.Count; i += step)
{
Sketch(History[i].Transformations, BoneColor.Darken(1f - (float)i / (float)History.Count));
}
}
if (DrawVelocities)
{
float max = 0f;
float[][] functions = new float[History.Count][];
for (int i = 0; i < History.Count; i++)
{
functions[i] = new float[Bones.Length];
for (int j = 0; j < Bones.Length; j++)
{
functions[i][j] = History[i].Velocities[j].magnitude;
max = Mathf.Max(max, functions[i][j]);
}
}
UltiDraw.Begin();
UltiDraw.PlotFunctions(new Vector2(0.5f, 0.05f), new Vector2(0.9f, 0.1f), functions, UltiDraw.Dimension.Y, yMin: 0f, yMax: max, thickness: 0.0025f);
UltiDraw.End();
}
}
}