public void SetIKKeyframes(float time, Avatar avatar, float humanScale, Vector3 bodyPosition, Quaternion bodyRotation)
{
// TODO Use character scale
TQ IKTQ = AvatarUtility.GetIKGoalTQ(avatar, humanScale, goal, new TQ(bodyPosition, bodyRotation), new TQ(transform.position, transform.rotation));
Quaternion rot = IKTQ.q;
if (lastQSet)
{
rot = BakerUtilities.EnsureQuaternionContinuity(lastQ, IKTQ.q);
}
//rot.Normalize();
lastQ = rot;
lastQSet = true;
rotX.AddKey(time, rot.x);
rotY.AddKey(time, rot.y);
rotZ.AddKey(time, rot.z);
rotW.AddKey(time, rot.w);
Vector3 pos = IKTQ.t;
posX.AddKey(time, pos.x);
posY.AddKey(time, pos.y);
posZ.AddKey(time, pos.z);
}
// Add curves to the AnimationClip for each channel
public void SetCurves(ref AnimationClip clip, float maxError, float lengthMlp)
{
MultiplyLength(curve, lengthMlp);
BakerUtilities.ReduceKeyframes(curve, maxError);
// BakerUtilities.SetTangentMode(curve);
clip.SetCurve(string.Empty, typeof(Animator), propertyName, curve);
}
public void ReduceKeyframes(float maxError)
{
BakerUtilities.ReduceKeyframes(rotX, maxError);
BakerUtilities.ReduceKeyframes(rotY, maxError);
BakerUtilities.ReduceKeyframes(rotZ, maxError);
BakerUtilities.ReduceKeyframes(rotW, maxError);
BakerUtilities.ReduceKeyframes(posX, maxError);
BakerUtilities.ReduceKeyframes(posY, maxError);
BakerUtilities.ReduceKeyframes(posZ, maxError);
}
// Add a copy of the first frame to the specified time
public void SetLoopFrame(float time)
{
BakerUtilities.SetLoopFrame(time, rotX);
BakerUtilities.SetLoopFrame(time, rotY);
BakerUtilities.SetLoopFrame(time, rotZ);
BakerUtilities.SetLoopFrame(time, rotW);
BakerUtilities.SetLoopFrame(time, posX);
BakerUtilities.SetLoopFrame(time, posY);
BakerUtilities.SetLoopFrame(time, posZ);
}
private void UpdateHumanPose()
{
handler.GetHumanPose(ref pose);
bodyPosition = pose.bodyPosition;
bodyRotation = pose.bodyRotation;
bodyRotation = BakerUtilities.EnsureQuaternionContinuity(lastBodyRotation, bodyRotation);
lastBodyRotation = bodyRotation;
for (int i = 0; i < pose.muscles.Length; i++)
{
muscles[i] = pose.muscles[i];
}
}
// Add curves to the AnimationClip for each channel
public void SetCurves(ref AnimationClip clip, float maxError, float lengthMlp)
{
MultiplyLength(rotX, lengthMlp);
MultiplyLength(rotY, lengthMlp);
MultiplyLength(rotZ, lengthMlp);
MultiplyLength(rotW, lengthMlp);
MultiplyLength(posX, lengthMlp);
MultiplyLength(posY, lengthMlp);
MultiplyLength(posZ, lengthMlp);
BakerUtilities.ReduceKeyframes(rotX, maxError);
BakerUtilities.ReduceKeyframes(rotY, maxError);
BakerUtilities.ReduceKeyframes(rotZ, maxError);
BakerUtilities.ReduceKeyframes(rotW, maxError);
BakerUtilities.ReduceKeyframes(posX, maxError);
BakerUtilities.ReduceKeyframes(posY, maxError);
BakerUtilities.ReduceKeyframes(posZ, maxError);
BakerUtilities.SetTangentMode(rotX);
BakerUtilities.SetTangentMode(rotY);
BakerUtilities.SetTangentMode(rotZ);
BakerUtilities.SetTangentMode(rotW);
/*
* BakerUtilities.SetTangentMode(posX);
* BakerUtilities.SetTangentMode(posY);
* BakerUtilities.SetTangentMode(posZ);
*/
clip.SetCurve(string.Empty, typeof(Animator), Qx, rotX);
clip.SetCurve(string.Empty, typeof(Animator), Qy, rotY);
clip.SetCurve(string.Empty, typeof(Animator), Qz, rotZ);
clip.SetCurve(string.Empty, typeof(Animator), Qw, rotW);
clip.SetCurve(string.Empty, typeof(Animator), Tx, posX);
clip.SetCurve(string.Empty, typeof(Animator), Ty, posY);
clip.SetCurve(string.Empty, typeof(Animator), Tz, posZ);
}
public void SetIKKeyframes(float time, Avatar avatar, Transform root, float humanScale, Vector3 bodyPosition, Quaternion bodyRotation)
{
Vector3 bonePos = transform.position;
Quaternion boneRot = transform.rotation;
if (root.parent != null)
{
bonePos = root.parent.InverseTransformPoint(bonePos);
boneRot = Quaternion.Inverse(root.parent.rotation) * boneRot;
}
TQ IKTQ = AvatarUtility.GetIKGoalTQ(avatar, humanScale, goal, new TQ(bodyPosition, bodyRotation), new TQ(bonePos, boneRot));
Quaternion rot = IKTQ.q;
if (lastQSet)
{
rot = BakerUtilities.EnsureQuaternionContinuity(lastQ, IKTQ.q);
}
//rot.Normalize();
lastQ = rot;
lastQSet = true;
rotX.AddKey(time, rot.x);
rotY.AddKey(time, rot.y);
rotZ.AddKey(time, rot.z);
rotW.AddKey(time, rot.w);
Vector3 pos = IKTQ.t;
posX.AddKey(time, pos.x);
posY.AddKey(time, pos.y);
posZ.AddKey(time, pos.z);
}
// Add a copy of the first frame to the specified time
public void SetLoopFrame(float time)
{
BakerUtilities.SetLoopFrame(time, curve);
}
