public static void Lerp(ref PoseData buffor, PoseData first, PoseData next, float factor)
{
for (int i = 0; i < first.Count; i++)
{
buffor.SetBone(BoneData.Lerp(first.GetBoneData(i), next.GetBoneData(i), factor), i);
}
}
public float CalculateCost(PoseData toPose, PoseCostType type)
{
float cost = 0f;
for (int i = 0; i < Count; i++)
{
cost += bones[i].CalculateCost(toPose.GetBoneData(i), type);
}
return(cost);
}
/*
* public void CreateFutureLocalPositionFromStartToEnd()
* {
* Matrix4x4 m;
* Vector3 startPos = GetStartPositionXY();
* Quaternion startRot = GetStartRotationY();
* Vector3 endPos = GetEndPositionXY();
* Quaternion endRot = GetEndRotationY();
* deltaRotStartEnd = endRot * Quaternion.Inverse(startRot);
* m = Matrix4x4.TRS(startPos, startRot, Vector3.one);
*
* endLocalPosition = m.inverse.MultiplyPoint3x4(endPos);
* }
*
* public void CreatePastLocalPositionFromEndToSTart()
* {
* Matrix4x4 m;
* Vector3 startPos = GetStartPositionXY();
* Quaternion startRot = GetStartRotationY();
* Vector3 endPos = GetEndPositionXY();
* Quaternion endRot = GetEndRotationY();
* deltaRotEndStart = startRot * Quaternion.Inverse(endRot);
* m = Matrix4x4.TRS(endPos, endRot, Vector3.one);
*
* startLocalPosition = m.inverse.MultiplyPoint3x4(startPos);
* }
*
* public TrajectoryPoint GetFutureTrajectoryPoint(float futureTime, float currentTime, Transform root, float deltaTime, float animSpeedMulti = 1f)
* {
* if (curves.Count == 0)
* {
* throw new System.Exception("Array of curves is empty!");
* }
* float trajectoryPointFutureTime = futureTime;
* Vector3 fPos = Vector3.zero;
* Quaternion fRot = root.rotation;
*
* float actuallAnimTime = currentTime * animSpeedMulti;
* //float frameTime = 1f / frameRate;
*
* // obliczenie czasu lokalnego nie wiekszego niz dlugosc animacji
* int timeLoops = Mathf.FloorToInt(actuallAnimTime / length);
* float localTime = actuallAnimTime - timeLoops * length;
*
* // potrzebne macierze:
* Matrix4x4 m = new Matrix4x4(); // macierz transformacji pomiędzy pozycjami i rotacjiami z krzywych animacji
* Matrix4x4 fm = new Matrix4x4(); // macierz transformacji przyszłej pozycji (wykorzystuemy tu fPos i fRot)
* // ptrzebne wektory;
* Vector3 actualPos; // pozycja pobrana z krzywych
* Vector3 futurePos; // pozycja pobrana z krzywych
* Vector3 localFuturePos; // przyszła pozycja lokalna wzgledem actualPos i actualrot
* // potrzebne quaterniony
* Quaternion actualRot; // rotacja pobrana z krzywych
* Quaternion futureRot; // rotacja pobrana z krzywych
* Quaternion deltaRotation; // delta pomiedzy actualRot i futureRot
*
* float ft = trajectoryPointFutureTime + localTime;
* if (ft > length)
* {
* // pobranie pozycji i rotacji z krzywych animacji w local time
* actualPos = GetPositionInTimeXY(localTime);
* actualRot = GetRotationInTimeY(localTime);
* // stworzenie macierzy transformacji
* m.SetTRS(actualPos, actualRot, Vector3.one);
* // pobranie pozycji i rotacji z krzywych animacji na koncu animacji
* futurePos = GetEndPositionXY();
* futureRot = GetEndRotationY();
* // Obliczenie rozncy rotacji
* deltaRotation = futureRot * Quaternion.Inverse(actualRot);
* // Obliczenie przyszłej pozycji w local space
* localFuturePos = m.inverse.MultiplyPoint3x4(futurePos);
* // Obliczenie nowej rotacji
* fRot *= deltaRotation;
* // obliczenie nowej pozycji
* fPos = root.TransformPoint(localFuturePos);
* fm = Matrix4x4.TRS(fPos, fRot, Vector3.one);
* // obliczenie pozostałego czasu do sprawdzenia pozycji
* trajectoryPointFutureTime -= (length - localTime);
* // obliczenie ile razy futureTime przekracza długość animacji
* int FTLoops = Mathf.FloorToInt(trajectoryPointFutureTime / length);
* if (FTLoops > 0)
* {
* for (int i = 0; i < FTLoops; i++)
* {
* fPos = fm.MultiplyPoint3x4(endLocalPosition);
* fRot *= deltaRotStartEnd;
* fm.SetTRS(fPos, fRot, Vector3.one);
* }
* trajectoryPointFutureTime -= (FTLoops * length);
* if (trajectoryPointFutureTime > 0)
* {
* actualPos = GetStartPositionXY();
* actualRot = GetStartRotationY();
* futurePos = GetPositionInTimeXY(trajectoryPointFutureTime);
* futureRot = GetRotationInTimeY(trajectoryPointFutureTime);
* m.SetTRS(actualPos, actualRot, Vector3.one);
* localFuturePos = m.inverse.MultiplyPoint3x4(futurePos);
* deltaRotation = futureRot * Quaternion.Inverse(actualRot);
* fRot *= deltaRotation;
* fPos = fm.MultiplyPoint3x4(localFuturePos);
* }
* }
* else
* {
* if (trajectoryPointFutureTime > 0)
* {
* actualPos = GetStartPositionXY();
* actualRot = GetStartRotationY();
* futurePos = GetPositionInTimeXY(trajectoryPointFutureTime);
* futureRot = GetRotationInTimeY(trajectoryPointFutureTime);
* m = Matrix4x4.TRS(actualPos, actualRot, Vector3.one);
* localFuturePos = m.inverse.MultiplyPoint3x4(futurePos);
* deltaRotation = futureRot * Quaternion.Inverse(actualRot);
* fRot *= deltaRotation;
* fPos = fm.MultiplyPoint3x4(localFuturePos);
* }
* }
* }
* else
* {
* actualPos = GetPositionInTimeXY(localTime);
* actualRot = GetRotationInTimeY(localTime);
* futurePos = GetPositionInTimeXY(ft);
* futureRot = GetRotationInTimeY(ft);
* m = Matrix4x4.TRS(actualPos, actualRot, Vector3.one);
* localFuturePos = m.inverse.MultiplyPoint3x4(futurePos);
* deltaRotation = futureRot * Quaternion.Inverse(actualRot);
* fRot *= deltaRotation;
* fPos = root.TransformPoint(localFuturePos);
* }
*
* fm.SetTRS(fPos, fRot, Vector3.one);
*
* Vector3 vel = fm.MultiplyVector(GetVelocityInTimeXY(localTime, deltaTime));
*
* return new TrajectoryPoint(fPos, vel, Vector3.zero, futureTime);
* }
*
* public TrajectoryPoint GetPastTrajectoryPoint(float pastTime, float currentTime, Transform root, float deltaTime, float animSpeedMulti = 1f)
* {
* if (curves.Count == 0)
* {
* throw new System.Exception("Array of curves is empty!");
* }
*
* float trajectoryPointPastTime = pastTime;
* Vector3 fPos = Vector3.zero;
* Quaternion fRot = root.rotation;
*
* float actuallAnimTime = currentTime * animSpeedMulti;
* //float frameTime = 1f / frameRate;
*
* // obliczenie czasu lokalnego nie wiekszego niz dlugosc animacji
* int timeLoops = Mathf.FloorToInt(actuallAnimTime / length);
* float localTime = actuallAnimTime - timeLoops * length;
*
* // potrzebne macierze:
* Matrix4x4 m = new Matrix4x4(); // macierz transformacji pomiędzy pozycjami i rotacjiami z krzywych animacji
* Matrix4x4 fm = new Matrix4x4(); // macierz transformacji przyszłej pozycji (wykorzystuemy tu fPos i fRot)
* // ptrzebne wektory;
* Vector3 actualPos; // pozycja pobrana z krzywych
* Vector3 pastPos; // pozycja pobrana z krzywych
* Vector3 localPastPos; // przyszła pozycja lokalna wzgledem actualPos i actualrot
* // potrzebne quaterniony
* Quaternion actualRot; // rotacja pobrana z krzywych
* Quaternion pastRot; // rotacja pobrana z krzywych
* Quaternion deltaRotation; // delta pomiedzy actualRot i futureRot
*
* float ft = trajectoryPointPastTime + localTime;
* if (ft < 0f)
* {
* // pobranie pozycji i rotacji z krzywych animacji w local time
* actualPos = GetPositionInTimeXY(localTime);
* actualRot = GetRotationInTimeY(localTime);
* // stworzenie macierzy transformacji
* m.SetTRS(actualPos, actualRot, Vector3.one);
* // pobranie pozycji i rotacji z krzywych animacji na poczatku animacji
* pastPos = GetStartPositionXY();
* pastRot = GetStartRotationY();
* // Obliczenie rozncy rotacji
* deltaRotation = pastRot * Quaternion.Inverse(actualRot);
* // Obliczenie przyszłej pozycji w local space
* localPastPos = m.inverse.MultiplyPoint3x4(pastPos);
* // Obliczenie nowej rotacji
* fRot *= deltaRotation;
* // obliczenie nowej pozycji
* fPos = root.TransformPoint(localPastPos);
* fm = Matrix4x4.TRS(fPos, fRot, Vector3.one);
* // obliczenie pozostałego czasu do sprawdzenia pozycji
* trajectoryPointPastTime += (localTime);
* // obliczenie ile razy futureTime przekracza długość animacji
* int FTLoops = Mathf.FloorToInt(Mathf.Abs(trajectoryPointPastTime) / length);
* if (FTLoops > 0)
* {
* for (int i = 0; i < FTLoops; i++)
* {
* fPos = fm.MultiplyPoint3x4(startLocalPosition);
* fRot *= deltaRotEndStart;
* fm.SetTRS(fPos, fRot, Vector3.one);
* }
* trajectoryPointPastTime += (FTLoops * length);
* if (trajectoryPointPastTime < 0)
* {
* actualPos = GetEndPositionXY();
* actualRot = GetEndRotationY();
* pastPos = GetPositionInTimeXY(trajectoryPointPastTime + length);
* pastRot = GetRotationInTimeY(trajectoryPointPastTime + length);
* m.SetTRS(actualPos, actualRot, Vector3.one);
* localPastPos = m.inverse.MultiplyPoint3x4(pastPos);
* deltaRotation = pastRot * Quaternion.Inverse(actualRot);
* fRot *= deltaRotation;
* fPos = fm.MultiplyPoint3x4(localPastPos);
* }
* }
* else
* {
* if (trajectoryPointPastTime < 0)
* {
* actualPos = GetEndPositionXY();
* actualRot = GetEndRotationY();
* pastPos = GetPositionInTimeXY(trajectoryPointPastTime + length);
* pastRot = GetRotationInTimeY(trajectoryPointPastTime + length);
* m = Matrix4x4.TRS(actualPos, actualRot, Vector3.one);
* localPastPos = m.inverse.MultiplyPoint3x4(pastPos);
* deltaRotation = pastRot * Quaternion.Inverse(actualRot);
* fRot *= deltaRotation;
* fPos = fm.MultiplyPoint3x4(localPastPos);
* }
* }
* }
* else
* {
* actualPos = GetPositionInTimeXY(localTime);
* actualRot = GetRotationInTimeY(localTime);
* pastPos = GetPositionInTimeXY(ft);
* pastRot = GetRotationInTimeY(ft);
* m = Matrix4x4.TRS(actualPos, actualRot, Vector3.one);
* localPastPos = m.inverse.MultiplyPoint3x4(pastPos);
* deltaRotation = pastRot * Quaternion.Inverse(actualRot);
* fRot *= deltaRotation;
* fPos = root.TransformPoint(localPastPos);
* }
*
* fm.SetTRS(fPos, fRot, Vector3.one);
*
* Vector3 vel = fm.MultiplyVector(GetVelocityInTimeXY(localTime, deltaTime));
*
* return new TrajectoryPoint(fPos, vel, Vector3.zero, pastTime);
* }
*
* private Vector3 GetPositionInTime(float time)
* {
* return new Vector3(curves[0].Evaluate(time),
* curves[1].Evaluate(time),
* curves[2].Evaluate(time));
* }
*
* private Vector3 GetStartPosition()
* {
* return new Vector3(curves[0].Evaluate(0f),
* curves[1].Evaluate(0f),
* curves[2].Evaluate(0f));
* }
*
* private Vector3 GetLastVPosition()
* {
* return new Vector3(curves[0].Evaluate(length),
* curves[1].Evaluate(length),
* curves[2].Evaluate(length));
* }
*
* private Quaternion GetRotationInTime(float time)
* {
* return new Quaternion(curves[3].Evaluate(time),
* curves[4].Evaluate(time),
* curves[5].Evaluate(time),
* curves[6].Evaluate(time)).normalized;
* }
*
* private Quaternion GetStartRotation()
* {
* return new Quaternion(curves[3].Evaluate(0f),
* curves[4].Evaluate(0f),
* curves[5].Evaluate(0f),
* curves[6].Evaluate(0f)).normalized;
* }
*
* private Quaternion GetEndRotation()
* {
* return new Quaternion(curves[3].Evaluate(length),
* curves[4].Evaluate(length),
* curves[5].Evaluate(length),
* curves[6].Evaluate(length)).normalized;
* }
*
* private Vector3 GetPositionInTimeXY(float time)
* {
* return new Vector3(curves[0].Evaluate(time),
* 0f,
* curves[2].Evaluate(time));
* }
*
* private Vector3 GetStartPositionXY()
* {
* return new Vector3(curves[0].Evaluate(0f),
* 0f,
* curves[2].Evaluate(0f));
* }
*
* private Vector3 GetEndPositionXY()
* {
* return new Vector3(curves[0].Evaluate(length),
* 0f,
* curves[2].Evaluate(length));
* }
*
* private Quaternion GetRotationInTimeY(float time)
* {
* return new Quaternion(0f,
* curves[4].Evaluate(time),
* 0f,
* curves[6].Evaluate(time)).normalized;
* }
*
* private Quaternion GetStartRotationY()
* {
* return new Quaternion(0f,
* curves[4].Evaluate(0f),
* 0f,
* curves[6].Evaluate(0f)).normalized;
* }
*
* private Quaternion GetEndRotationY()
* {
* return new Quaternion(0f,
* curves[4].Evaluate(length),
* 0f,
* curves[6].Evaluate(length)).normalized;
* }
*
* private Vector3 GetVelocityInTime(float time)
* {
* Vector3 vel;
* if (time < Time.deltaTime)
* {
* vel = (GetPositionInTime(Time.deltaTime) - GetStartPosition()) / Time.deltaTime;
* return vel;
* }
* vel = (GetPositionInTime(time) - GetPositionInTime(time - Time.deltaTime)) / Time.deltaTime;
* return vel;
* }
*
* public Vector3 GetVelocityInTimeXY(float time, float deltaTime)
* {
* float localTime = GetLocalTime(time);
* Vector3 vel;
* Vector3 actual;
* Vector3 previu;
* Quaternion actualRot;
* if (time < deltaTime)
* {
* actual = GetPositionInTimeXY(deltaTime);
* previu = GetStartPositionXY();
* actualRot = GetRotationInTimeY(deltaTime);
* }
* else
* {
* actual = GetPositionInTimeXY(localTime);
* previu = GetPositionInTimeXY(localTime - deltaTime);
* actualRot = GetRotationInTimeY(localTime);
* }
* vel = (actual - previu) / deltaTime;
*
* Matrix4x4 m = Matrix4x4.TRS(actual, actualRot, Vector3.one);
* return m.inverse.MultiplyVector(vel);
* }
*/
#endregion
public void GetPoseInTime(ref PoseData buffor, float actuallTime, float animSpeedMulti = 1f)
{
float localTime = this.GetLocalTime(actuallTime) * animSpeedMulti;
//float frameTime = 1f / frameRate;
//int timeLoops = Mathf.FloorToInt(actuallAnimTime / length);
//float localTime = actuallAnimTime - timeLoops * length;
int backFrame = Mathf.FloorToInt(localTime / frameTime);
int nextFrame = backFrame == (frames.Count - 1) ? 0 : backFrame + 1;
float lerpFactor = (localTime - backFrame * frameTime) / frameTime;
FrameData.GetLerpedPose(ref buffor, this.frames[backFrame], this.frames[nextFrame], lerpFactor);
}
public FrameData(
int frameNumber,
float localTime,
FrameSections sections
)
{
//this.frameNumber = frameNumber;
this.localTime = localTime;
this.sections = sections;
this.trajectory = new Trajectory();
this.pose = new PoseData();
this.contactPoints = new FrameContact[0];
}
protected override void Enter(PoseData currentPose, Trajectory previouStateGoal, List <float2> whereCanFindingBestPose)
{
NativeArray <float2> findingIntervals = new NativeArray <float2>(whereCanFindingBestPose.ToArray(), Allocator.TempJob);
NativeArray <FrameContact> contactPointsNative = new NativeArray <FrameContact>(logicLayer.contactPoints.Count, Allocator.TempJob);
//making native contactsl
for (int i = 0; i < logicLayer.contactPoints.Count; i++)
{
contactPointsNative[i] = logicLayer.contactPoints[i].frameContact;
}
// Geting native pose
for (int i = 0; i < currentPose.Count; i++)
{
logicLayer.nativePose[i] = currentPose.GetBoneData(i);
}
//Geting natve trajectory
for (int i = 0; i < previouStateGoal.Length; i++)
{
logicLayer.nativeTrajectory[i] = previouStateGoal.GetPoint(i);
}
ImpactAnimationFinding(
logicLayer.nativePose,
findingIntervals,
contactPointsNative,
logicLayer.nativeTrajectory
);
findingIntervals.Dispose();
contactPointsNative.Dispose();
currentDataIndex = logicLayer.bestPoseInfo.clipIndex;
currentClipLocalTime = (float)logicLayer.bestPoseInfo.localTime;
playableGraph.CreateBlendMotionMatchingAnimation(
dataState.motionDataGroups[currentMotionDataGroupIndex].animationData[currentDataIndex],
currentDataIndex,
stateMixer,
currentClipLocalTime,
1f,
blendingSpeeds,
currentWeights,
animationsSequences,
this.logicLayer.GetPassIK(),
this.logicLayer.GetFootPassIK(),
1f
);
currentPlayedClipsIndexes.Add(currentDataIndex);
}
public bool SwitchToContactState(
PoseData currentPose,
Trajectory goal,
List <SwitchStateContact> contactPoints,
int nextStateIndex,
float blendTime,
string startSectionName = null
)
{
#if UNITY_EDITOR
if (logicStates[nextStateIndex].dataState.GetStateType() != MotionMatchingStateType.ContactAnimationState)
{
throw new System.Exception(
string.Format("This method can only switch to contact state. {0} state type is {1}",
logicStates[nextStateIndex].dataState.GetName(),
logicStates[nextStateIndex].dataState.GetStateType().ToString()
));
}
#endif
if (logicStates[nextStateIndex].IsBlockedToEnter())
{
return(false);
}
if (currentStateIndex >= 0 && currentStateIndex < logicStates.Count)
{
previousStateIndex = currentStateIndex;
stateWeightsSpeedChanging[stateWeightsSpeedChanging.Count - 1] = (-(1f / blendTime));
}
currentStateIndex = nextStateIndex;
stateWeightsSpeedChanging.Add((1f / blendTime));
currentBlendedStates.Add(currentStateIndex);
SetContactPoints(contactPoints.ToArray());
logicStates[currentStateIndex].StateEnter(
currentPose,
goal,
logicStates[nextStateIndex].dataState.whereCanFindingNextPose,
startSectionName
);
return(true);
}
protected override void Enter(PoseData currentPose, Trajectory previouStateGoal, List <float2> whereCanFindingBestPose)
{
for (int i = 0; i < currentPose.Count; i++)
{
logicLayer.nativePose[i] = currentPose.GetBoneData(i);
}
for (int i = 0; i < previouStateGoal.Length; i++)
{
logicLayer.nativeTrajectory[i] = previouStateGoal.GetPoint(i);
}
if (this.dataState.sectionsDependencies != null)
{
SetCurrentSection(this.dataState.startSection);
}
SwitchMotionDataGroup();
GetCurrentClipsInfo();
MotionMatchingFinding(
logicLayer.nativePose,
logicLayer.nativeTrajectory
);
JobHandle.ScheduleBatchedJobs();
JobHandle.CompleteAll(jobsHandle);
JoinJobsOutput();
currentDataIndex = logicLayer.bestPoseInfo.clipIndex;
currentPlayedClipsIndexes.Add(currentDataIndex);
playableGraph.CreateBlendMotionMatchingAnimation(
dataState.motionDataGroups[currentMotionDataGroupIndex].animationData[currentDataIndex],
logicLayer.bestPoseInfo.clipIndex,
stateMixer,
logicLayer.bestPoseInfo.localTime,
this.dataState.mmFeatures.blendTime,
blendingSpeeds,
currentWeights,
animationsSequences,
this.logicLayer.GetPassIK(),
this.logicLayer.GetFootPassIK(),
1.0f,
this.dataState.mmFeatures.minWeightToAchive
);
//CreateMMAnimation(this.dataState.mmFeatures.blendTime, 1f);
}
protected override void Enter(
PoseData currentPose,
Trajectory previouStateGoal,
List <float2> whereCanFindingBestPose
)
{
NativeArray <float2> findingIntervals = new NativeArray <float2>(whereCanFindingBestPose.ToArray(), Allocator.TempJob);
for (int i = 0; i < currentPose.Count; i++)
{
logicLayer.nativePose[i] = currentPose.GetBoneData(i);
}
for (int i = 0; i < previouStateGoal.Length; i++)
{
logicLayer.nativeTrajectory[i] = previouStateGoal.GetPoint(i);
}
SingleAnimationFinding(
logicLayer.nativePose,
logicLayer.nativeTrajectory,
findingIntervals
);
findingIntervals.Dispose();
currentDataIndex = logicLayer.bestPoseInfo.clipIndex;
currentClipLocalTime = (float)logicLayer.bestPoseInfo.localTime;
playableGraph.CreateBlendMotionMatchingAnimation(
dataState.motionDataGroups[currentMotionDataGroupIndex].animationData[currentDataIndex],
currentDataIndex,
stateMixer,
currentClipLocalTime,
dataState.saFeatures.blendTime,
blendingSpeeds,
currentWeights,
animationsSequences,
this.logicLayer.GetPassIK(),
this.logicLayer.GetFootPassIK(),
1f
);
currentPlayedClipsIndexes.Add(currentDataIndex);
}
public void Start()
{
// For geting current pose
stateInputTrajectoryLocalSpace = new Trajectory(logicStates[0].dataState.motionDataGroups[0].animationData[0][0].trajectory.Length);
currentAnimationTrajectory = new Trajectory(logicStates[0].dataState.motionDataGroups[0].animationData[0][0].trajectory.Length);
currentPose = new PoseData(logicStates[0].dataState.motionDataGroups[0].animationData[0][0].pose.Count);
bufforPose = new PoseData(logicStates[0].dataState.motionDataGroups[0].animationData[0][0].pose.Count);
nativePose = new NativeArray <BoneData>(logicStates[0].dataState.motionDataGroups[0].animationData[0][0].pose.Count, Allocator.Persistent);
nativeTrajectory = new NativeArray <TrajectoryPoint>(logicStates[0].dataState.motionDataGroups[0].animationData[0][0].trajectory.Length, Allocator.Persistent);
#if UNITY_EDITOR
//else
//{
// throw new System.Exception(string.Format("State {0} have no animation Data", logicStates[0].dataState.GetName()));
//}
#endif
logicStatesIndexes = new Dictionary <string, int>();
for (int i = 0; i < logicStates.Count; i++)
{
logicStatesIndexes.Add(logicStates[i].GetName(), i);
}
currentStateIndex = layer.startStateIndex;
stateWeightsSpeedChanging = new List <float>();
playableGraph.AddLayerPlayable(this);
currentBlendedStates.Clear();
currentBlendedStates.Add(currentStateIndex);
stateWeightsSpeedChanging.Add(1f);
logicStates[currentStateIndex].StateStart();
mixer.SetInputWeight(0, 1f);
currentWeights.Add(1f);
if (this.layer.avatarMask != null)
{
playableGraph.SetLayerAvatarMask((uint)layer.index, layer.avatarMask);
}
playableGraph.SetLayerAdditive((uint)layer.index, layer.isAdditive);
}
public static void GetLerpedPose(ref PoseData buffor, FrameData first, FrameData second, float factor)
{
PoseData.Lerp(ref buffor, first.pose, second.pose, factor);
}
public void SetPose(PoseData newPose)
{
this.pose = newPose;
}
protected override void Enter(
PoseData currentPose,
Trajectory previouStateGoal,
List <float2> whereCanFindingBestPose
)
{
// valus initzialization
gettingAdaptedPoints = true;
targetContactPointIndex = 0;
NativeArray <float2> findingIntervals = new NativeArray <float2>(whereCanFindingBestPose.ToArray(), Allocator.TempJob);
NativeArray <FrameContact> contactPointsNative = new NativeArray <FrameContact>(logicLayer.contactPoints.Count, Allocator.TempJob);
//making native contactsl
for (int i = 0; i < logicLayer.contactPoints.Count; i++)
{
contactPointsNative[i] = logicLayer.contactPoints[i].frameContact;
}
// making native pose
for (int i = 0; i < currentPose.Count; i++)
{
logicLayer.nativePose[i] = currentPose.GetBoneData(i);
}
for (int i = 0; i < previouStateGoal.Length; i++)
{
logicLayer.nativeTrajectory[i] = previouStateGoal.GetPoint(i);
}
ContactAnimationFinding(
logicLayer.nativePose,
findingIntervals,
contactPointsNative,
logicLayer.nativeTrajectory
);
findingIntervals.Dispose();
contactPointsNative.Dispose();
currentDataIndex = logicLayer.bestPoseInfo.clipIndex;
currentClipLocalTime = (float)logicLayer.bestPoseInfo.localTime;
playableGraph.CreateBlendMotionMatchingAnimation(
dataState.motionDataGroups[currentMotionDataGroupIndex].animationData[currentDataIndex],
currentDataIndex,
stateMixer,
currentClipLocalTime,
1f,
blendingSpeeds,
currentWeights,
animationsSequences,
this.logicLayer.GetPassIK(),
this.logicLayer.GetFootPassIK(),
1f
);
currentPlayedClipsIndexes.Add(currentDataIndex);
if (dataState.csFeatures.contactStateType == ContactStateType.NormalContacts)
{
switch (this.contactType)
{
case ContactStateMovemetType.StartContact:
SC_Enter();
break;
case ContactStateMovemetType.ContactLand:
CL_Enter();
break;
case ContactStateMovemetType.StartContactLand:
SCL_Enter();
break;
case ContactStateMovemetType.StartLand:
SL_Enter();
break;
case ContactStateMovemetType.Contact:
CL_Enter();
break;
}
if (dataState.csFeatures.rotateToStart)
{
Vector3 dir = logicLayer.contactPoints[1].frameContact.position - logicLayer.contactPoints[0].frameContact.position;
dir = Vector3.ProjectOnPlane(dir, Vector3.up);
dir = this.GetCurrentMMData().fromFirstToSecondContactRot *dir;
rotationToContact = Quaternion.LookRotation(dir, Vector3.up);
float rotationTime = (this.GetCurrentMMData().GetContactStartTime(0) - currentClipLocalTime) / dataState.speedMultiplier;
if (rotationTime == 0)
{
rotationTime = 0.00001f;
}
else if (rotationTime < 0)
{
rotationTime = Mathf.Abs(rotationTime);
}
degreeSpeed = Quaternion.Angle(this.Transform.rotation, rotationToContact) / rotationTime;
}
#if UNITY_EDITOR
startTime = currentClipLocalTime;
previewPos = Transform.position;
#else
if (dataState.csFeatures.postionCorrection == ContactPointPositionCorrectionType.LerpPosition)
{
startTime = currentClipLocalTime;
previewPos = Transform.position;
}
#endif
}
}
