private IEnumerator Sit()
{
Controller.Signal signal = Controller.GetSignal("Sit");
Interaction interaction = Controller.ProjectionInteraction != null ? Controller.ProjectionInteraction : Controller.GetClosestInteraction(transform);
float threshold = 0.25f;
if (interaction != null)
{
Controller.ActiveInteraction = interaction;
IsInteracting = true;
while (signal.Query())
{
ApplyStaticGoal(interaction.GetContact("Hips").GetPosition(), interaction.GetContact("Hips").GetForward(), Signals);
Geometry.Setup(Geometry.Resolution);
Geometry.Sense(interaction.GetCenter(), LayerMask.GetMask("Interaction"), interaction.GetExtents(), InteractionSmoothing);
yield return(new WaitForSeconds(0f));
}
while (StyleSeries.GetStyle(TimeSeries.Pivot, "Sit") > threshold)
{
ApplyDynamicGoal(
RootSeries.Transformations[TimeSeries.Pivot],
Controller.QueryMove(KeyCode.W, KeyCode.S, KeyCode.A, KeyCode.D, Signals),
Controller.QueryTurn(KeyCode.Q, KeyCode.E, 90f),
Signals
);
Geometry.Setup(Geometry.Resolution);
Geometry.Sense(interaction.GetCenter(), LayerMask.GetMask("Interaction"), interaction.GetExtents(), InteractionSmoothing);
yield return(new WaitForSeconds(0f));
}
IsInteracting = false;
Controller.ActiveInteraction = null;
}
}
private IEnumerator Open()
{
Controller.Signal signal = Controller.GetSignal("Open");
Interaction interaction = Controller.ProjectionInteraction != null ? Controller.ProjectionInteraction : Controller.GetClosestInteraction(transform);
if (interaction != null)
{
Controller.ActiveInteraction = interaction;
IsInteracting = true;
while (signal.Query())
{
ApplyStaticGoal(interaction.GetCenter().GetPosition(), interaction.GetCenter().GetForward(), Signals);
Geometry.Setup(Geometry.Resolution);
Geometry.Sense(interaction.GetCenter(), LayerMask.GetMask("Interaction"), interaction.GetExtents(), InteractionSmoothing);
yield return(new WaitForSeconds(0f));
}
IsInteracting = false;
Controller.ActiveInteraction = null;
}
}
protected override void Setup()
{
Controller = new Controller();
Controller.Signal idle = Controller.AddSignal("Idle");
idle.Default = true;
idle.Velocity = 0f;
idle.AddKey(KeyCode.W, false);
idle.AddKey(KeyCode.A, false);
idle.AddKey(KeyCode.S, false);
idle.AddKey(KeyCode.D, false);
idle.AddKey(KeyCode.Q, false);
idle.AddKey(KeyCode.E, false);
idle.AddKey(KeyCode.V, true);
idle.UserControl = 0.25f;
idle.NetworkControl = 0.1f;
Controller.Signal walk = Controller.AddSignal("Walk");
walk.AddKey(KeyCode.W, true);
walk.AddKey(KeyCode.A, true);
walk.AddKey(KeyCode.S, true);
walk.AddKey(KeyCode.D, true);
walk.AddKey(KeyCode.Q, true);
walk.AddKey(KeyCode.E, true);
walk.AddKey(KeyCode.LeftShift, false);
walk.AddKey(KeyCode.C, false);
walk.Velocity = 1f;
walk.UserControl = 0.25f;
walk.NetworkControl = 0.25f;
Controller.Signal run = Controller.AddSignal("Run");
run.AddKey(KeyCode.LeftShift, true);
run.Velocity = 3f;
run.UserControl = 0.25f;
run.NetworkControl = 0.25f;
Controller.Signal carry = Controller.AddSignal("Carry");
carry.AddKey(KeyCode.V, true);
carry.Velocity = 0f;
carry.UserControl = 0.1f;
carry.NetworkControl = 0f;
Controller.Signal open = Controller.AddSignal("Open");
open.AddKey(KeyCode.F, true);
open.Velocity = 0f;
open.UserControl = 0.1f;
open.NetworkControl = 0f;
Controller.Signal sit = Controller.AddSignal("Sit");
sit.AddKey(KeyCode.C, true);
sit.Velocity = 0f;
sit.UserControl = 0.25f;
sit.NetworkControl = 0f;
Environment = new CylinderMap(4f, 9, 9, true);
Geometry = new CuboidMap(new Vector3Int(8, 8, 8));
TimeSeries = new TimeSeries(6, 6, 1f, 1f, 5);
RootSeries = new TimeSeries.Root(TimeSeries);
StyleSeries = new TimeSeries.Style(TimeSeries, "Idle", "Walk", "Run", "Carry", "Open", "Sit", "Climb");
GoalSeries = new TimeSeries.Goal(TimeSeries, Controller.GetSignalNames());
ContactSeries = new TimeSeries.Contact(TimeSeries, "Hips", "RightWrist", "LeftWrist", "RightAnkle", "LeftAnkle");
PhaseSeries = new TimeSeries.Phase(TimeSeries);
for (int i = 0; i < TimeSeries.Samples.Length; i++)
{
RootSeries.Transformations[i] = transform.GetWorldMatrix(true);
if (StyleSeries.Styles.Length > 0)
{
StyleSeries.Values[i][0] = 1f;
}
if (GoalSeries.Actions.Length > 0)
{
GoalSeries.Values[i][0] = 1f;
}
GoalSeries.Transformations[i] = transform.GetWorldMatrix(true);
PhaseSeries.Values[i] = Mathf.Repeat((float)i / GetFramerate(), 1f);
Geometry.Pivot = transform.GetWorldMatrix(true);
Geometry.References[i] = transform.position;
}
PosePrediction = new Vector3[Actor.Bones.Length];
RootPrediction = new Matrix4x4[7];
GoalPrediction = new Matrix4x4[7];
RightFootIK = UltimateIK.BuildModel(Actor.FindTransform("RightHip"), Actor.GetBoneTransforms(ContactSeries.Bones[3]));
LeftFootIK = UltimateIK.BuildModel(Actor.FindTransform("LeftHip"), Actor.GetBoneTransforms(ContactSeries.Bones[4]));
}
private IEnumerator Carry()
{
Controller.Signal signal = Controller.GetSignal("Carry");
Interaction interaction = Controller.ProjectionInteraction != null ? Controller.ProjectionInteraction : Controller.GetClosestInteraction(transform);
if (interaction != null)
{
Controller.ActiveInteraction = interaction;
// Debug.Log("Carrying started...");
IsInteracting = true;
float duration = 0.5f;
float threshold = 0.2f;
Vector3 deltaPos = new Vector3(0f, -0.15f, 0.2f);
Quaternion deltaRot = Quaternion.Euler(-30f, 0f, 0f);
float height = 1f;
Matrix4x4 GetObjectMatrix(float staticness)
{
Matrix4x4 right = Actor.GetBoneTransformation("RightWrist");
Matrix4x4 left = Actor.GetBoneTransformation("LeftWrist");
Quaternion rotation = Quaternion.Slerp(
Quaternion.LookRotation(left.GetRight(), left.GetForward()),
Quaternion.LookRotation(-right.GetRight(), right.GetForward()),
0.5f
);
rotation *= deltaRot;
rotation = Quaternion.Slerp(
rotation,
transform.rotation,
Utility.Normalise(staticness, 0f, 1f, 0.5f, 1f)
);
return(Matrix4x4.TRS(
Vector3.Lerp(left.GetPosition(), right.GetPosition(), 0.5f) + rotation * deltaPos,
rotation,
interaction.transform.lossyScale
));
}
bool HasContact()
{
float left = ContactSeries.GetContact(TimeSeries.Pivot, "LeftWrist");
float right = ContactSeries.GetContact(TimeSeries.Pivot, "RightWrist");
return(right > 0.5f && left > 0.5f || (left + right) > 1f);
}
//Move to the target location
// Debug.Log("Approaching to lift object...");
while (signal.Query())
{
ApplyStaticGoal(interaction.GetCenter().GetPosition(), interaction.GetCenter().GetForward(), Controller.PoolSignals());
Geometry.Setup(Geometry.Resolution);
Geometry.Sense(interaction.GetCenter(), LayerMask.GetMask("Interaction"), interaction.GetExtents(), InteractionSmoothing);
Geometry.Retransform(interaction.GetOrigin(GoalSeries.Transformations[TimeSeries.Pivot]));
if (Vector3.Distance(GetObjectMatrix(0f).GetPosition(), interaction.transform.position) < threshold)
{
break;
}
yield return(new WaitForSeconds(0f));
}
//Move the object from the surface to the hands
// Debug.Log("Picking object...");
float tPick = Time.time;
Vector3 pos = interaction.transform.position;
Quaternion rot = interaction.transform.rotation;
while (signal.Query() && HasContact())
{
float ratio = Mathf.Clamp((Time.time - tPick) / duration, 0f, 1f);
Matrix4x4 m = GetObjectMatrix(1f - ratio);
interaction.transform.position = Vector3.Lerp(pos, m.GetPosition(), ratio);
interaction.transform.rotation = Quaternion.Slerp(rot, m.GetRotation(), ratio);
ApplyStaticGoal(interaction.GetCenter().GetPosition(), interaction.GetCenter().GetForward(), Controller.PoolSignals());
Geometry.Setup(Geometry.Resolution);
Geometry.Sense(interaction.GetCenter(), LayerMask.GetMask("Interaction"), interaction.GetExtents(), InteractionSmoothing);
Geometry.Retransform(interaction.GetOrigin(GoalSeries.Transformations[TimeSeries.Pivot]));
if (ratio >= 1f)
{
break;
}
yield return(new WaitForSeconds(0f));
}
//Move around with the object
// Debug.Log("Carrying object and moving...");
while (signal.Query() && HasContact())
{
Matrix4x4 m = GetObjectMatrix(0f);
interaction.transform.position = m.GetPosition();
interaction.transform.rotation = m.GetRotation();
ApplyDynamicGoal(
interaction.GetCenter(),
Controller.QueryMove(KeyCode.W, KeyCode.S, KeyCode.A, KeyCode.D, Signals) + new Vector3(0f, height - interaction.transform.position.y, 0f),
Controller.QueryTurn(KeyCode.Q, KeyCode.E, 90f),
Signals
);
Geometry.Setup(Geometry.Resolution);
Geometry.Sense(interaction.GetCenter(), LayerMask.GetMask("Interaction"), interaction.GetExtents(), InteractionSmoothing);
Geometry.Retransform(interaction.GetOrigin(GoalSeries.Transformations[TimeSeries.Pivot]));
yield return(new WaitForSeconds(0f));
}
//Perform motions to start placing the object
// Debug.Log("Transitioning to placing down object...");
while (HasContact())
{
Matrix4x4 m = GetObjectMatrix(0f);
interaction.transform.position = m.GetPosition();
interaction.transform.rotation = m.GetRotation();
Geometry.Setup(Geometry.Resolution);
Geometry.Sense(interaction.GetCenter(), LayerMask.GetMask("Interaction"), interaction.GetExtents(), InteractionSmoothing);
Geometry.Retransform(interaction.GetOrigin(GoalSeries.Transformations[TimeSeries.Pivot]));
if (Controller.ProjectionActive)
{
ApplyStaticGoal(Controller.Projection.point, Vector3.ProjectOnPlane(Controller.Projection.point - transform.position, Vector3.up).normalized, Signals);
if (Vector3.Distance(Controller.Projection.point, interaction.transform.position) < threshold)
{
break;
}
}
else
{
Vector3 surface = Utility.ProjectGround(interaction.transform.position, LayerMask.GetMask("Default", "Ground"));
ApplyStaticGoal(surface, Vector3.ProjectOnPlane(m.GetForward(), Vector3.up).normalized, Signals);
if (Vector3.Distance(surface, interaction.transform.position) < threshold)
{
break;
}
}
yield return(new WaitForSeconds(0f));
}
//Make sure the object is again placed on the surface
// Debug.Log("Placing object...");
float tPlace = Time.time;
Vector3 aPosPlace = interaction.transform.position;
Vector3 bPosPlace = Utility.ProjectGround(aPosPlace, LayerMask.GetMask("Default", "Ground"));
Quaternion aRotPlace = interaction.transform.rotation;
Quaternion bRotPlace = Quaternion.LookRotation(Vector3.ProjectOnPlane(aRotPlace.GetForward(), Vector3.up), Vector3.up);
while (true)
{
float ratio = Mathf.Clamp((Time.time - tPlace) / duration, 0f, 1f);
interaction.transform.position = Vector3.Lerp(aPosPlace, bPosPlace, ratio);
interaction.transform.rotation = Quaternion.Slerp(aRotPlace, bRotPlace, ratio);
Geometry.Setup(Geometry.Resolution);
Geometry.Sense(interaction.GetCenter(), LayerMask.GetMask("Interaction"), interaction.GetExtents(), InteractionSmoothing);
Geometry.Retransform(interaction.GetOrigin(GoalSeries.Transformations[TimeSeries.Pivot]));
ApplyStaticGoal(transform.position, transform.forward, Signals);
if (ratio >= 1f)
{
break;
}
yield return(new WaitForSeconds(0f));
}
while (StyleSeries.GetStyle(TimeSeries.Pivot, "Carry") > 0.1)
{
ApplyDynamicGoal(
RootSeries.Transformations[TimeSeries.Pivot],
Controller.QueryMove(KeyCode.W, KeyCode.S, KeyCode.A, KeyCode.D, Signals),
Controller.QueryTurn(KeyCode.Q, KeyCode.E, 90f),
Signals
);
Geometry.Setup(Geometry.Resolution);
Geometry.Sense(interaction.GetCenter(), LayerMask.GetMask("Interaction"), interaction.GetExtents(), InteractionSmoothing);
yield return(new WaitForSeconds(0f));
}
IsInteracting = false;
// Debug.Log("Carrying finished...");
Controller.ActiveInteraction = null;
}
}
