public Point(Vector2S v, QuaternionS rotation)
{
this.position = new Vector2S();
this.position.x = (float)Math.Round(v.x, Decimals);
this.position.y = (float)Math.Round(v.y, Decimals);
this.rotation = rotation;
}
public TransformS(Transform t)
{
if (t == null)
{
return;
}
pos = t.position; rot = t.rotation; scale = t.localScale;
}
private static void ComputeLocalTranform(Animation anim)
{
// Validate input
if (anim.frameList.Count < 2)
{
Debug.LogError("The Animation does not have enough Frames to compute velocities");
throw new Exception("The Animation does not have enough Frames to compute velocities");
}
// Find local Positions
foreach (Frame frame in anim.frameList)
{
// (TODO FINAL): set it to root and not hips
// Root's Position and Rotation
Vector3S rootP = frame.boneDataDict[Bone.Type.hips].position;
QuaternionS rootQ = frame.boneDataDict[Bone.Type.hips].rotation;
// For every bone of the Animation
foreach (Bone.Type bt in Enum.GetValues(typeof(Bone.Type)))
{
// Local position considers root as 0 and root's up as up
frame.boneDataDict[bt].SetLocalPosition(rootP, rootQ);
}
}
// Find local Velocity
foreach (Bone.Type bt in Enum.GetValues(typeof(Bone.Type)))
{
// Find the position of the first frame
Vector3S lastLocalPosition = anim.frameList[0].boneDataDict[bt].localPosition;
// Compute the velocities of all the Frames but the first
for (int i = 1; i < anim.frameList.Count; i++)
{
anim.frameList[i].boneDataDict[bt].SetLocalVelocity(lastLocalPosition);
lastLocalPosition = anim.frameList[i].boneDataDict[bt].localPosition;
}
// Set the velocity of the first Frame equal to the one in the second
lastLocalPosition = anim.frameList[1].boneDataDict[bt].localPosition;
anim.frameList[0].boneDataDict[bt].SetLocalVelocity(lastLocalPosition);
}
}
public Snippet GetLocalSnippet(
int presentFrame)
{
// Validate input
if (presentFrame < SalamanderController.FeaturePastPoints - 1 || presentFrame > points.Count - SalamanderController.FeaturePoints)
{
Debug.LogError("Attempt to create a Snippet the exceedes the past or the future limit");
throw new Exception("Attempt to create a Snippet the exceedes the past or the future limit");
}
// Find present position and rotation
Vector2S presentPosition = points[presentFrame].position;
QuaternionS presentRotation = this.points[presentFrame].rotation;
// Build the new Snippet
Snippet snippet = new Snippet();
for (int i = 0; i < SalamanderController.SnippetSize; i++)
{
// Compute the position of the points relative to the present position and rotation
// Create a Point at the current position
int addingFrame = presentFrame - SalamanderController.FeaturePastPoints + 1 + i;
Vector3 localPosition3D = new Vector3(this.points[addingFrame].position.x, 0, this.points[addingFrame].position.y);
// Move it to the root
localPosition3D.x -= presentPosition.x;
localPosition3D.z -= presentPosition.y;
// Rotate it to face upwards
localPosition3D = Quaternion.Inverse((Quaternion)presentRotation) * localPosition3D;
// Compute the new rotation
QuaternionS localRotation = this.points[addingFrame].rotation * presentRotation;
// Store the relative point to the snippet
snippet.points[i] = new Point(localPosition3D.GetXZVector2(), localRotation);
}
return(snippet);
}
public static Point getMedianPoint(List <Vector2S> positions)
{
Vector2S position = new Vector2S(0f, 0f);
QuaternionS rotation;
// Position
foreach (Vector2S currentPosition in positions)
{
position += currentPosition;
}
position /= positions.Count;
// Rotation
Vector2S displacement2D = (positions[positions.Count - 1] - positions[0]);
rotation = Quaternion.LookRotation(
new Vector3(displacement2D.x, 0, displacement2D.y),
Vector3.up);
return(new Point(position, rotation));
}
public TransformS(Vector3 v, Quaternion q)
{
pos = v; rot = q; scale = Vector3.one;
}
public BoneStateSample(Transform obj)
{
pos = new Vector3S(obj.localPosition);
rot = new QuaternionS(obj.localRotation);
scale = new Vector3S(obj.localScale);
}
public BoneStateSample(Vector3 p,Quaternion r , Vector3 s)
{
pos = new Vector3S(p);
rot = new QuaternionS(r);
scale = new Vector3S(s);
}
public void SetLocalPosition(Vector3S originPosition, QuaternionS originRotation)
{
this.localPosition = originRotation * (Vector3)(this.position - originPosition);
}
public Data(Vector3S position, QuaternionS rotation)
{
this.position = position;
this.rotation = rotation;
}
