public override void generatePredecesors(ref DefaultState DcurrentState, ref DefaultState DpreviousState,
ref DefaultState DidealGoalState, ref List <DefaultAction> transitions)
{
FootstepPlanningState currentState = DcurrentState as FootstepPlanningState;
FootstepPlanningState idealGoalState = DidealGoalState as FootstepPlanningState;
FootstepPlanningState previousState = DpreviousState as FootstepPlanningState;
float timeLeft = idealGoalState.time - currentState.time;
float timeWindow = window * analyzer.maxActionDuration;
// If there is no time left
if (timeLeft + timeWindow < 0)
{
//We don't generate transitions
return;
}
AnotatedAnimation preconditions = currentState.preconditions;
float meanStepSize = analyzer.meanStepSize;
foreach (AnotatedAnimation anim in analyzer.analyzedAnimations.Values)
{
float minAnimSpeed = 0.0f;
float maxAnimSpeed = 1.0f;
float animSpeedIncr = 0.1f;
minAnimSpeed = 1.0f; maxAnimSpeed = 1.0f;
FootstepPlanningAction newAction = new FootstepPlanningAction(previousState, anim, minAnimSpeed, meanStepSize, 0.0f);
if (newAction.state != null)
{
if (newAction.SatisfiesPreconditions(preconditions))
{
if (!CheckStateCollisions(newAction.state))
{
transitions.Add(newAction);
}
// and we generate the other actions using the same animation but at different speeds
for (float animSpeed = minAnimSpeed + animSpeedIncr; animSpeed <= maxAnimSpeed; animSpeed += animSpeedIncr)
{
newAction = new FootstepPlanningAction(previousState, anim, animSpeed, meanStepSize, 0.0f);
if (!CheckStateCollisions(newAction.state))
{
transitions.Add(newAction);
}
}
}
}
}
}
public override void generateTransitions(ref DefaultState DcurrentState, ref DefaultState DpreviousState,
ref DefaultState DidealGoalState, ref List<DefaultAction> transitions)
{
FootstepPlanningState currentState = DcurrentState as FootstepPlanningState;
// FootstepPlanningState previousState = DpreviousState as FootstepPlanningState;
FootstepPlanningState idealGoalState = DidealGoalState as FootstepPlanningState;
float timeLeft = idealGoalState.time - currentState.time;
float timeWindow = window*analyzer.maxActionDuration;
// If there is no time left
if ( timeLeft + timeWindow < 0 )
{
//We don't generate transitions
return;
}
//Debug.Log("Calling my generation");
// The next action preconditions
AnotatedAnimation preconditions = currentState.preconditions;
float meanStepSize = analyzer.meanStepSize;
float mass = analyzer.mass;
// The added transitions
//int count = 0;
/*
//string[] names = {"WalkRightSlow","WalkRightSlow2","WalkNormal","WalkNormal2","WalkFast","WalkFast2","WalkLeft","WalkLeft2","WalkRight","WalkRight2","LeftStep","RightStep"};
string[] names = {
"WalkFast","WalkFast2","WalkNormal","WalkNormal2","WalkLeft","WalkLeft2","WalkRight","WalkRight2","LeftStep"
,"RightStep","WalkLeftSlow","WalkLeftSlow2","WalkRightSlow","WalkRightSlow2"
,"RightStepSlow","LeftStepSlow","WalkSlow","WalkSlow2"
,"TurnRight360","TurnLeft360"
,"WalkTurnLeft","WalkTurnLeft2"
"WalkTurnRight","WalkTurnRight2"
,"WalkSlowest","WalkSlowest2"
,"Idle"
};
AnotatedAnimation[] anims = new AnotatedAnimation[names.Length];
int aux=0;
foreach (string name in names)
{
anims[aux] = analyzer.GetAnotatedAnimation(name);
aux++;
}
*/
// For each possible animation
foreach( AnotatedAnimation anim in analyzer.analyzedAnimations.Values)
//foreach (AnotatedAnimation anim in anims)
{
// We compute the min and max possible speed of the animation
// (depending on the previous state, the current state and the velocity of the new animation)
float minAnimSpeed = 0.0f;
float maxAnimSpeed = 1.0f;
//ComputeMinAndMaxAnimSpeeds(currentState,previousState,anim.speed,ref minAnimSpeed,ref maxAnimSpeed);
float animSpeedIncr = 0.1f;
//minAnimSpeed = 0.2f; maxAnimSpeed = 1.0f; animSpeedIncr = 0.2f;
minAnimSpeed = 1.0f; maxAnimSpeed = 1.0f;
//minAnimSpeed = 0.5f; maxAnimSpeed = 0.5f;
//int animCount = 0;
//Debug.Log("Transitions: currentState.time = "+currentState.time+" realTime = "+Time.realtimeSinceStartup);
// we check the preconditions of that action
FootstepPlanningAction newAction = new FootstepPlanningAction(currentState,anim,minAnimSpeed,meanStepSize,mass);
if (newAction.state != null)
{
if ( newAction.SatisfiesPreconditions(preconditions) )
{
if (!CheckStateCollisions(newAction.state))
transitions.Add(newAction);
//count++;
//animCount++;
// and we generate the other actions using the same animation but at different speeds
for (float animSpeed = minAnimSpeed + animSpeedIncr; animSpeed <= maxAnimSpeed; animSpeed += animSpeedIncr)
{
newAction = new FootstepPlanningAction(currentState,anim,animSpeed,meanStepSize,mass);
//transitions.Insert(count,newAction);
if (!CheckStateCollisions(newAction.state))
transitions.Add(newAction);
//count++;
//animCount++;
}
}
}
//Debug.Log("Animation " + anim.name + " transitions = " + animCount);
//if (transitions.Count == 0)
// Debug.Log("No transitions!");
}
}
override public void generateTransitions(ref DefaultState DcurrentState, ref DefaultState DpreviousState,
ref DefaultState DidealGoalState, ref List <DefaultAction> transitions)
{
FootstepPlanningState currentState = DcurrentState as FootstepPlanningState;
// FootstepPlanningState previousState = DpreviousState as FootstepPlanningState;
FootstepPlanningState idealGoalState = DidealGoalState as FootstepPlanningState;
float timeLeft = idealGoalState.time - currentState.time;
float timeWindow = window * analyzer.maxActionDuration;
// If there is no time left
if (timeLeft + timeWindow < 0)
{
//We don't generate transitions
return;
}
//Debug.Log("Calling my generation");
// The next action preconditions
AnotatedAnimation preconditions = currentState.preconditions;
float meanStepSize = analyzer.meanStepSize;
float mass = analyzer.mass;
// The added transitions
//int count = 0;
/*
* //string[] names = {"WalkRightSlow","WalkRightSlow2","WalkNormal","WalkNormal2","WalkFast","WalkFast2","WalkLeft","WalkLeft2","WalkRight","WalkRight2","LeftStep","RightStep"};
* string[] names = {
* "WalkFast","WalkFast2","WalkNormal","WalkNormal2","WalkLeft","WalkLeft2","WalkRight","WalkRight2","LeftStep"
* ,"RightStep","WalkLeftSlow","WalkLeftSlow2","WalkRightSlow","WalkRightSlow2"
* ,"RightStepSlow","LeftStepSlow","WalkSlow","WalkSlow2"
* ,"TurnRight360","TurnLeft360"
* ,"WalkTurnLeft","WalkTurnLeft2"
* "WalkTurnRight","WalkTurnRight2"
* ,"WalkSlowest","WalkSlowest2"
* ,"Idle"
* };
*
* AnotatedAnimation[] anims = new AnotatedAnimation[names.Length];
* int aux=0;
* foreach (string name in names)
* {
* anims[aux] = analyzer.GetAnotatedAnimation(name);
* aux++;
* }
*/
// For each possible animation
foreach (AnotatedAnimation anim in analyzer.analyzedAnimations.Values)
//foreach (AnotatedAnimation anim in anims)
{
// We compute the min and max possible speed of the animation
// (depending on the previous state, the current state and the velocity of the new animation)
float minAnimSpeed = 0.0f;
float maxAnimSpeed = 1.0f;
//ComputeMinAndMaxAnimSpeeds(currentState,previousState,anim.speed,ref minAnimSpeed,ref maxAnimSpeed);
float animSpeedIncr = 0.1f;
//minAnimSpeed = 0.2f; maxAnimSpeed = 1.0f; animSpeedIncr = 0.2f;
minAnimSpeed = 1.0f; maxAnimSpeed = 1.0f;
//minAnimSpeed = 0.5f; maxAnimSpeed = 0.5f;
//int animCount = 0;
//Debug.Log("Transitions: currentState.time = "+currentState.time+" realTime = "+Time.realtimeSinceStartup);
// we check the preconditions of that action
FootstepPlanningAction newAction = new FootstepPlanningAction(currentState, anim, minAnimSpeed, meanStepSize, mass);
if (newAction.state != null)
{
if (newAction.SatisfiesPreconditions(preconditions))
{
if (!CheckStateCollisions(newAction.state))
{
transitions.Add(newAction);
}
//count++;
//animCount++;
// and we generate the other actions using the same animation but at different speeds
for (float animSpeed = minAnimSpeed + animSpeedIncr; animSpeed <= maxAnimSpeed; animSpeed += animSpeedIncr)
{
newAction = new FootstepPlanningAction(currentState, anim, animSpeed, meanStepSize, mass);
//transitions.Insert(count,newAction);
if (!CheckStateCollisions(newAction.state))
{
transitions.Add(newAction);
}
//count++;
//animCount++;
}
}
}
//Debug.Log("Animation " + anim.name + " transitions = " + animCount);
//if (transitions.Count == 0)
// Debug.Log("No transitions!");
}
}
public override void generatePredecesors(ref DefaultState DcurrentState, ref DefaultState DpreviousState,
ref DefaultState DidealGoalState, ref List<DefaultAction> transitions)
{
FootstepPlanningState currentState = DcurrentState as FootstepPlanningState;
FootstepPlanningState idealGoalState = DidealGoalState as FootstepPlanningState;
FootstepPlanningState previousState = DpreviousState as FootstepPlanningState;
float timeLeft = idealGoalState.time - currentState.time;
float timeWindow = window*analyzer.maxActionDuration;
// If there is no time left
if ( timeLeft + timeWindow < 0 )
{
//We don't generate transitions
return;
}
AnotatedAnimation preconditions = currentState.preconditions;
float meanStepSize = analyzer.meanStepSize;
foreach( AnotatedAnimation anim in analyzer.analyzedAnimations.Values)
{
float minAnimSpeed = 0.0f;
float maxAnimSpeed = 1.0f;
float animSpeedIncr = 0.1f;
minAnimSpeed = 1.0f; maxAnimSpeed = 1.0f;
FootstepPlanningAction newAction = new FootstepPlanningAction(previousState,anim,minAnimSpeed,meanStepSize, 0.0f);
if (newAction.state != null)
{
if ( newAction.SatisfiesPreconditions(preconditions) )
{
if (!CheckStateCollisions(newAction.state))
transitions.Add(newAction);
// and we generate the other actions using the same animation but at different speeds
for (float animSpeed = minAnimSpeed + animSpeedIncr; animSpeed <= maxAnimSpeed; animSpeed += animSpeedIncr)
{
newAction = new FootstepPlanningAction(previousState,anim,animSpeed,meanStepSize, 0.0f);
if (!CheckStateCollisions(newAction.state))
transitions.Add(newAction);
}
}
}
}
}