// Return false if the BVH file and the FBX model do not match
public bool LoadBVHFile(string filepath)
{
m_idJointMap.Clear();
m_bvhLoaded = false;
// m_canMove = false;
m_bvhNotMatch = true;
if (FKIKPlugin.LoadBVH(m_id, filepath))
{
// Reconstrcut idJoint Map. If files do not match, return false
if (!ConstructIdJointMap())
{
m_canMove = false;
m_bvhNotMatch = false;
return(false);
}
m_bvhLoaded = true;
// m_canMove = true;
m_t = 0;
m_maxt = FKIKPlugin.GetDuration(m_id);
m_keySize = FKIKPlugin.GetKeySize(m_id);
m_lastRootOffsetY = m_root.transform.position.y;
m_lastLeftFootY = m_leftFoot.transform.position.y;
m_lastRightFootY = m_rightFoot.transform.position.y;
// Reset end joint ids
ConstructIKChains();
return(true);
}
return(false);
}
// Set id of end joints and construct the IK chains
void ConstructIKChains()
{
foreach (KeyValuePair <int, GameObject> pair in m_idJointMap)
{
if (pair.Value == m_root)
{
//Debug.Log("Root:" + pair.Key.ToString());
FKIKPlugin.SetRootID(m_id, pair.Key);
}
else if (pair.Value == m_leftFoot)
{
//Debug.Log("Left Foot:" + pair.Key.ToString());
FKIKPlugin.SetLeftFootID(m_id, pair.Key);
}
else if (pair.Value == m_rightFoot)
{
//Debug.Log("Right Foot:" + pair.Key.ToString());
FKIKPlugin.SetRightFootID(m_id, pair.Key);
}
else if (pair.Value == m_leftHand)
{
//Debug.Log("Left Hand:" + pair.Key.ToString());
FKIKPlugin.SetLeftHandID(m_id, pair.Key);
}
else if (pair.Value == m_rightHand)
{
//Debug.Log("Right Hand:" + pair.Key.ToString());
FKIKPlugin.SetRightHandID(m_id, pair.Key);
}
}
FKIKPlugin.CreateLimbIKChains(m_id);
}
// Construct a map between joints and indices
bool ConstructIdJointMap()
{
m_idJointMap.Clear();
foreach (GameObject joint in m_joints)
{
int id = -1;
// End Joint: can only be found by its parent's name
if (joint.transform.childCount == 0)
{
id = FKIKPlugin.GetJointIdByParentName(m_id, joint.transform.parent.name);
}
else
{
id = FKIKPlugin.GetJointIdByName(m_id, joint.transform.name);
}
// Not found
if (id == -1)
{
m_idJointMap.Clear();
Debug.Log("Joint Not Found:" + joint.name);
return(false);
}
m_idJointMap.Add(id, joint);
}
return(true);
}
void UpdateGuideByTarget(bool rotateToTarget)
{
float[] newPos = new float[3];
float[] newQuat = new float[4];
FKIKPlugin.UpdateGuideJointByTarget(m_id, FKIKPlugin.UnityToBVHTranslation(m_guideTarget.transform.position),
newPos, newQuat);
// Update guide
gameObject.transform.position = FKIKPlugin.BVHToUnityTranslation(newPos);
gameObject.transform.rotation = FKIKPlugin.BVHToUnityQuaternion(newQuat);
}
public void SetTimeByProgressBar(float id)
{
if (id >= m_keySize)
{
Debug.LogError("Key id out of range");
return;
}
m_t = FKIKPlugin.GetKeyTime(m_id, (int)id);
m_keyID = (int)id;
}
void LinkJoints()
{
foreach (GameObject joint in m_joints)
{
FKIKPlugin.JointData data;
data.id = FindIdByJoint(joint);
data.localTranslation = FKIKPlugin.UnityToBVHTranslation(joint.transform.localPosition);
data.localRotation = FKIKPlugin.UnityToBVHQuaternion(joint.transform.localRotation);
int parentID = FindIdByJoint(joint.transform.parent.gameObject);
FKIKPlugin.SetJointData(m_id, data, parentID);
}
FKIKPlugin.UpdateSkeleton(m_id);
}
void TraverseJoints(Transform transform)
{
m_joints.Add(transform.gameObject);
// Initialize joint in plugin
int id = FKIKPlugin.CreateJoint(m_id, transform.gameObject.name, transform.gameObject == m_root);
m_idJointMap.Add(id, transform.gameObject);
// Travser childeren joints
foreach (Transform child in transform)
{
TraverseJoints(child);
}
}
// Set joints' localRotation and localPosition with JointData
private void ApplyJointDataArray()
{
for (int i = 0; i < m_joints.Count; ++i)
{
FKIKPlugin.JointData data = m_jointDataArray[i];
GameObject joint = m_idJointMap[data.id];
joint.transform.localPosition = FKIKPlugin.BVHToUnityTranslation(data.localTranslation);
joint.transform.localRotation = FKIKPlugin.BVHToUnityQuaternion(data.localRotation);
}
if (m_fixedRoot)
{
// Set root local position x and z to zero
m_root.transform.localPosition = new Vector3(0, m_root.transform.localPosition.y, 0);
}
}
// Start is called before the first frame update
void Start()
{
m_id = FKIKPlugin.CreateActor();
m_jointPainter = this.GetComponent <JointPainter>();
// Initialize the plugin and virtual joints
TraverseJoints(m_root.transform); // Add joints to the m_joints and m_idJointMap
LinkJoints(); // Set the parent child relationship
m_jointPainter.InitVirtualJoints(this.name + "joints", m_joints);
ConstructJointDataArray(); // Initialize the joint data array
ConstructIKChains(); // Construct IK chains for hands and feet
GameObject[] endJoints = new GameObject[] { m_root, m_leftHand, m_rightHand, m_leftFoot, m_rightFoot };
m_jointPainter.InitializeTargetJoints(endJoints);
if (m_defaultBVH)
{
string projectPath = Application.dataPath;
string filePath = AssetDatabase.GetAssetPath(m_defaultBVH);
string filename = Path.Combine(projectPath, "../", filePath);
Debug.Log(filename);
LoadBVHFile(filename);
StartMove();
}
}
private void UpdateJointTransform(float t)
{
// FK
if (m_bvhLoaded)
{
FKIKPlugin.UpdateBVHSkeleton(m_id, t);
FKIKPlugin.GetJointData(m_id, m_jointDataArray, m_joints.Count);
}
else
{
FKIKPlugin.UpdateSkeleton(m_id);
FKIKPlugin.GetJointData(m_id, m_jointDataArray, m_joints.Count);
}
ApplyJointDataArray();
// Check foot-ground contact
CheckFootGroundContact();
// IK
if (m_enableFootIK)
{
FootIK();
}
}
public void SolveIK(GameObject targetJoint, Vector3 pos)
{
int jointID = FindIdByJoint(targetJoint.GetComponent <VirtualJointController>().GetBindedJoint());
FKIKPlugin.SolveLimbIK(m_id, jointID, FKIKPlugin.UnityToBVHTranslation(pos));
}
public void EditKeyRotation(GameObject virtualJoint)
{
int jointID = FindIdByJoint(virtualJoint.GetComponent <VirtualJointController>().GetBindedJoint());
FKIKPlugin.SetJointRotation(m_id, jointID, FKIKPlugin.UnityToBVHQuaternion(virtualJoint.transform.localRotation));
}
private void FootIK()
{
// Get foot position in world space
Vector3 leftFootPos = m_leftFoot.transform.position;
Vector3 rightFootPos = m_rightFoot.transform.position;
/// C++ Implementation
RaycastFootHeight(leftFootPos, out float leftHeight, out Vector3 leftNormal);
RaycastFootHeight(rightFootPos, out float rightHeight, out Vector3 rightNormal);
FKIKPlugin.SolveFootIK(m_id, leftHeight, rightHeight, m_leftFootGroundContact, m_rightFootGroundContact,
FKIKPlugin.UnityToBVHTranslation(leftNormal), FKIKPlugin.UnityToBVHTranslation(rightNormal));
FKIKPlugin.GetJointData(m_id, m_jointDataArray, m_joints.Count);
ApplyJointDataArray();
/// Unity Implementation
//if (RaycastFootHeight(leftFootPos, out float leftHeight, out Vector3 leftNormal))
//{
// leftFootPos.y = Mathf.Lerp(leftHeight + leftFootPos.y, m_lastLeftFootY, m_footSpeedY);
//}
//if (RaycastFootHeight(rightFootPos, out float rightHeight, out Vector3 rightNormal))
//{
// rightFootPos.y = Mathf.Lerp(rightHeight + rightFootPos.y, m_lastRightFootY, m_footSpeedY);
//}
//m_lastLeftFootY = leftFootPos.y;
//m_lastRightFootY = rightFootPos.y;
//// Transform to guide space
//leftFootPos = gameObject.transform.InverseTransformPoint(leftFootPos); // World space to guide space
//rightFootPos = gameObject.transform.InverseTransformPoint(rightFootPos); // World space to guide space
//// Move root height
//float rootOffsetY = leftFootPos.y < rightFootPos.y ? leftHeight : rightHeight;
//rootOffsetY = Mathf.Lerp(m_lastRootOffsetY, rootOffsetY, m_rootSpeedY);
//m_lastRootOffsetY = rootOffsetY;
//Vector3 rootPos = m_root.transform.position + new Vector3(0, rootOffsetY, 0);
//rootPos = gameObject.transform.InverseTransformPoint(rootPos);
//FKIKPlugin.SetRootJointTranslation(m_id, FKIKPlugin.UnityToBVHTranslation(rootPos));
//FKIKPlugin.UpdateSkeleton(m_id);
//FKIKPlugin.SolveLimbIK(m_id, FindIdByJoint(m_leftFoot), FKIKPlugin.UnityToBVHTranslation(leftFootPos));
//FKIKPlugin.SolveLimbIK(m_id, FindIdByJoint(m_rightFoot), FKIKPlugin.UnityToBVHTranslation(rightFootPos));
//FKIKPlugin.GetJointData(m_id, m_jointDataArray, m_joints.Count);
//ApplyJointDataArray();
//// Foot rotation
//if (m_leftFootGroundContact)
//{
// Vector3 leftForward = Vector3.Cross(m_leftFoot.transform.right, leftNormal); // Calculate new forward vector
// m_leftFoot.transform.up = leftNormal;
// m_leftFoot.transform.forward = leftForward;
//}
//if (m_rightFootGroundContact)
//{
// Vector3 rightForward = Vector3.Cross(m_rightFoot.transform.right, rightNormal);
// m_rightFoot.transform.up = rightNormal;
// m_rightFoot.transform.forward = rightForward;
//}
}
