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]); } } }