public void Refresh(bool evolution = true)
{
if (Destroyed)
{
return;
}
for (int i = 0; i < Segments.Count; i++)
{
if (Segments[i] == null)
{
Segments.RemoveAt(i);
i--;
}
}
Refresh(transform);
Root = FindSegment(transform);
if (evolution && Application.isPlaying)
{
DeInitialise();
Initialise();
Solution = new double[Evolution.GetModel().GetDoF()];
}
}
private bool StopDraw(BioSegment segment)
{
if (segment.Parent == null)
{
return(false);
}
return(false);
//return segment.Parent.name == "Kopf" && segment.name != "Head" && segment.name != "Ohr_R" && segment.name != "Ohr_L" || segment.name == "Ohr_L_end" || segment.name == "Ohr_R_end";
}
public Model(BioIK character)
{
Character = character;
//Set Root
Root = Character.FindSegment(Character.transform);
//Create Root
AddNode(Root);
//Build Model
BioObjective[] objectives = CollectObjectives(Root, new List <BioObjective>());
for (int i = 0; i < objectives.Length; i++)
{
List <BioSegment> chain = Character.GetChain(Root, objectives[i].Segment);
for (int j = 1; j < chain.Count; j++)
{
AddNode(chain[j]);
}
}
//Assign DoF
DoF = MotionPtrs.Length;
//Initialise arrays for single transform modifications
for (int i = 0; i < Nodes.Length; i++)
{
Nodes[i].ObjectiveImpacts = new bool[ObjectivePtrs.Length];
}
PX = new double[ObjectivePtrs.Length];
PY = new double[ObjectivePtrs.Length];
PZ = new double[ObjectivePtrs.Length];
RX = new double[ObjectivePtrs.Length];
RY = new double[ObjectivePtrs.Length];
RZ = new double[ObjectivePtrs.Length];
RW = new double[ObjectivePtrs.Length];
Configuration = new double[MotionPtrs.Length];
Gradient = new double[MotionPtrs.Length];
Losses = new double[ObjectivePtrs.Length];
SimulatedLosses = new double[ObjectivePtrs.Length];
//Assigns references to all objective nodes that are affected by a parenting node
for (int i = 0; i < ObjectivePtrs.Length; i++)
{
Node node = ObjectivePtrs[i].Node;
while (node != null)
{
node.ObjectiveImpacts[i] = true;
node = node.Parent;
}
}
Refresh();
//DebugSetup();
}
public void RenewRelations()
{
Parent = null;
System.Array.Resize(ref Childs, 0);
if (Transform != Character.transform)
{
Parent = Character.FindSegment(Transform.parent);
Parent.AddChild(this);
}
}
//Adds a segment node into the model
private void AddNode(BioSegment segment)
{
if (FindNode(segment.Transform) == null)
{
Node node = new Node(this, FindNode(segment.Transform.parent), segment);
if (node.Joint != null)
{
if (node.Joint.GetDoF() == 0 || !node.Joint.enabled)
{
node.Joint = null;
}
else
{
if (node.Joint.X.IsEnabled())
{
MotionPtr motionPtr = new MotionPtr(node.Joint.X, node, MotionPtrs.Length);
System.Array.Resize(ref MotionPtrs, MotionPtrs.Length + 1);
MotionPtrs[MotionPtrs.Length - 1] = motionPtr;
node.XEnabled = true;
node.XIndex = motionPtr.Index;
}
if (node.Joint.Y.IsEnabled())
{
MotionPtr motionPtr = new MotionPtr(node.Joint.Y, node, MotionPtrs.Length);
System.Array.Resize(ref MotionPtrs, MotionPtrs.Length + 1);
MotionPtrs[MotionPtrs.Length - 1] = motionPtr;
node.YEnabled = true;
node.YIndex = motionPtr.Index;
}
if (node.Joint.Z.IsEnabled())
{
MotionPtr motionPtr = new MotionPtr(node.Joint.Z, node, MotionPtrs.Length);
System.Array.Resize(ref MotionPtrs, MotionPtrs.Length + 1);
MotionPtrs[MotionPtrs.Length - 1] = motionPtr;
node.ZEnabled = true;
node.ZIndex = motionPtr.Index;
}
}
}
BioObjective[] objectives = segment.Objectives;
for (int i = 0; i < objectives.Length; i++)
{
if (objectives[i].enabled)
{
System.Array.Resize(ref ObjectivePtrs, ObjectivePtrs.Length + 1);
ObjectivePtrs[ObjectivePtrs.Length - 1] = new ObjectivePtr(objectives[i], node, ObjectivePtrs.Length);
}
}
System.Array.Resize(ref Nodes, Nodes.Length + 1);
Nodes[Nodes.Length - 1] = node;
}
}
private void DrawSetup(BioSegment segment, bool final)
{
if (!StopDraw(segment))
{
DrawSegment(segment, final);
for (int i = 0; i < segment.Childs.Length; i++)
{
DrawSetup(segment.Childs[i], final);
}
}
}
public List <BioSegment> GetChain(Transform start, Transform end)
{
BioSegment a = FindSegment(start);
BioSegment b = FindSegment(end);
if (a == null || b == null)
{
Debug.Log("Could not generate chain for given transforms");
return(null);
}
return(GetChain(a, b));
}
private void DrawSkeleton(BioSegment segment)
{
if (!StopDraw(segment))
{
if (segment.Parent != null)
{
DrawLine(segment.Parent.GetAnchoredPosition(), segment.GetAnchoredPosition(), 5f, Color.cyan);
}
for (int i = 0; i < segment.Childs.Length; i++)
{
DrawSkeleton(segment.Childs[i]);
}
}
}
private void PostcaptureAnimation(BioSegment segment)
{
if (segment.Joint != null)
{
if (segment.Joint.enabled)
{
segment.Joint.PostcaptureAnimation();
}
}
for (int i = 0; i < segment.Childs.Length; i++)
{
PostcaptureAnimation(segment.Childs[i]);
}
}
private void ProcessMotion(BioSegment segment)
{
if (segment.Joint != null)
{
if (segment.Joint.enabled)
{
segment.Joint.ProcessMotion();
}
}
for (int i = 0; i < segment.Childs.Length; i++)
{
ProcessMotion(segment.Childs[i]);
}
}
public static BioJoint AddBioJoint(BioSegment segment)
{
#if UNITY_EDITOR
if (Application.isPlaying)
{
return((segment.gameObject.AddComponent(typeof(BioJoint)) as BioJoint).Create(segment));
}
else
{
return((Undo.AddComponent(segment.gameObject, typeof(BioJoint)) as BioJoint).Create(segment));
}
#else
return((segment.gameObject.AddComponent(typeof(BioJoint)) as BioJoint).Create(segment));
#endif
}
//Returns all objectives which are childs in the hierarcy, beginning from the root
private BioObjective[] CollectObjectives(BioSegment segment, List <BioObjective> objectives)
{
for (int i = 0; i < segment.Objectives.Length; i++)
{
if (segment.Objectives[i].enabled)
{
objectives.Add(segment.Objectives[i]);
}
}
for (int i = 0; i < segment.Childs.Length; i++)
{
CollectObjectives(segment.Childs[i], objectives);
}
return(objectives.ToArray());
}
private void Refresh(Transform t)
{
BioSegment segment = FindSegment(t);
if (segment == null)
{
segment = Utility.AddBioSegment(this, t);
Segments.Add(segment);
}
segment.Character = this;
segment.RenewRelations();
for (int i = 0; i < t.childCount; i++)
{
Refresh(t.GetChild(i));
}
}
public List <BioSegment> GetChain(BioSegment start, BioSegment end)
{
List <BioSegment> chain = new List <BioSegment>();
BioSegment segment = end;
while (true)
{
chain.Add(segment);
if (segment.Transform == transform || segment.Parent == null)
{
break;
}
else
{
segment = segment.Parent;
}
}
chain.Reverse();
return(chain);
}
public void ResetPosture(BioSegment segment)
{
if (segment.Joint != null)
{
segment.Joint.X.SetTargetValue(0f);
segment.Joint.Y.SetTargetValue(0f);
segment.Joint.Z.SetTargetValue(0f);
if (!Application.isPlaying)
{
segment.Joint.PrecaptureAnimation();
segment.Joint.PostcaptureAnimation();
segment.Joint.UpdateData();
segment.Joint.ProcessMotion();
}
}
for (int i = 0; i < segment.Childs.Length; i++)
{
ResetPosture(segment.Childs[i]);
}
}
public void UpdateData(BioSegment segment)
{
if (segment.Joint != null)
{
if (segment.Joint.enabled)
{
segment.Joint.UpdateData();
}
}
for (int i = 0; i < segment.Objectives.Length; i++)
{
if (segment.Objectives[i].enabled)
{
segment.Objectives[i].UpdateData();
}
}
for (int i = 0; i < segment.Childs.Length; i++)
{
UpdateData(segment.Childs[i]);
}
}
private void DrawSegment(BioSegment segment, bool final)
{
Vector3 P = segment.GetAnchoredPosition();
if (Target.SelectedSegment == segment && final)
{
DrawSphere(P, 0.25f, new Color(0f, 0f, 0f, 0.4f));
DrawSphere(P, 0.02f, Color5);
}
else if (Target.SelectedSegment != segment)
{
DrawSphere(P, 0.02f, Color.cyan);
}
if (segment.Joint != null)
{
DrawJoint(segment.Joint, final);
}
for (int i = 0; i < segment.Objectives.Length; i++)
{
DrawObjective(segment.Objectives[i], final);
}
}
public BioJoint Create(BioSegment segment)
{
Segment = segment;
Segment.Transform.hideFlags = HideFlags.NotEditable;
hideFlags = HideFlags.HideInInspector;
X = new Motion(this, Vector3.right);
Y = new Motion(this, Vector3.up);
Z = new Motion(this, Vector3.forward);
SetDefaultFrame(transform.localPosition, transform.localRotation);
SetAnchor(Anchor);
Vector3 forward = Vector3.zero;
if (Segment.Childs.Length == 1)
{
forward = Segment.Childs[0].Transform.localPosition;
}
else if (Segment.Parent != null)
{
forward = Quaternion.Inverse(Segment.Transform.localRotation) * Segment.Transform.localPosition;
}
if (forward.magnitude != 0f)
{
SetOrientation(Quaternion.LookRotation(forward, Vector3.up).eulerAngles);
}
else
{
SetOrientation(Orientation);
}
LastPosition = transform.localPosition;
LastRotation = transform.localRotation;
return(this);
}
public bool[] ObjectiveImpacts; //Boolean values to represent which objective indices in the whole kinematic tree are affected (TODO: Refactor this)
//Setup for the node
public Node(Model model, Node parent, BioSegment segment)
{
Model = model;
Parent = parent;
if (Parent != null)
{
Parent.AddChild(this);
}
Transform = segment.Transform;
Joint = segment.Joint;
List <Transform> reverseChain = new List <Transform>();
reverseChain.Add(Transform);
Node p = parent;
while (p != null)
{
reverseChain.Add(p.Transform);
p = p.Parent;
}
reverseChain.Reverse();
Chain = reverseChain.ToArray();
}
private void InspectBody(BioSegment segment, int indent, int maxIndent)
{
SetGUIColor(Color11);
using (new EditorGUILayout.VerticalScope("Box")) {
EditorGUILayout.BeginHorizontal();
if (Target.SelectedSegment != segment)
{
if (indent > 0)
{
SetGUIColor(Color13);
using (new EditorGUILayout.VerticalScope("Box")) {
int width = 10 * (indent - 1);
EditorGUILayout.LabelField("", GUILayout.Width(width));
}
}
}
GUI.skin.button.alignment = TextAnchor.MiddleLeft;
if (segment == Target.SelectedSegment)
{
SetGUIColor(Color5);
}
else
{
SetGUIColor(Color.Lerp(Color4, Color8, (float)indent / (float)maxIndent));
}
if (GUILayout.Button(segment.Transform.name, GUILayout.Height(25f), GUILayout.ExpandWidth(true)))
{
if (Target.SelectedSegment == segment)
{
Target.SelectedSegment = null;
ChosingObjectiveType = false;
}
else
{
Target.SelectedSegment = segment;
}
}
EditorGUILayout.EndHorizontal();
if (Target.SelectedSegment == segment)
{
InspectSegment(segment);
}
else
{
GUILayout.BeginHorizontal();
GUILayout.FlexibleSpace();
if (segment.Joint != null)
{
SetGUIColor(Color6);
GUILayout.Box(" Joint ");
}
foreach (BioObjective objective in segment.Objectives)
{
SetGUIColor(Color9);
GUILayout.Box(" " + objective.GetObjectiveType().ToString() + " ");
}
GUILayout.FlexibleSpace();
GUILayout.EndHorizontal();
}
}
for (int i = 0; i < segment.Childs.Length; i++)
{
InspectBody(segment.Childs[i], indent + 1, maxIndent);
}
}
private void InspectSegment(BioSegment segment)
{
Undo.RecordObject(segment, segment.name);
SetGUIColor(Color13);
using (new EditorGUILayout.VerticalScope("Box")) {
SetGUIColor(Color4);
Vector3 A = segment.Parent == null?segment.GetAnchoredPosition() : segment.Parent.GetAnchoredPosition();
Vector3 B = segment.GetAnchoredPosition();
EditorGUILayout.HelpBox("Link Length: " + Vector3.Distance(A, B), MessageType.None);
SetGUIColor(Color6);
using (new EditorGUILayout.VerticalScope("Box")) {
if (segment.Joint == null)
{
GUI.skin.button.alignment = TextAnchor.MiddleCenter;
SetGUIColor(Color1);
if (GUILayout.Button("Add Joint"))
{
segment.AddJoint();
}
}
else
{
InspectJoint(segment.Joint);
}
}
}
for (int i = 0; i < segment.Objectives.Length; i++)
{
SetGUIColor(Color13);
using (new EditorGUILayout.VerticalScope("Box")) {
SetGUIColor(Color9);
using (new EditorGUILayout.VerticalScope("Box")) {
InspectObjective(segment.Objectives[i]);
}
}
}
SetGUIColor(Color13);
using (new EditorGUILayout.VerticalScope("Box")) {
SetGUIColor(Color9);
using (new EditorGUILayout.VerticalScope("Box")) {
GUI.skin.button.alignment = TextAnchor.MiddleCenter;
SetGUIColor(ChosingObjectiveType ? Color14 : Color1);
if (GUILayout.Button("Add Objective"))
{
ChosingObjectiveType = !ChosingObjectiveType;
}
if (ChosingObjectiveType)
{
SetGUIColor(Color8);
using (new EditorGUILayout.VerticalScope("Box")) {
int count = System.Enum.GetValues(typeof(ObjectiveType)).Length;
string[] names = System.Enum.GetNames(typeof(ObjectiveType));
for (int i = 0; i < count; i++)
{
SetGUIColor(Color1);
if (GUILayout.Button(names[i]))
{
ChosingObjectiveType = false;
segment.AddObjective((ObjectiveType)i);
}
}
}
}
}
}
if (segment != null)
{
EditorUtility.SetDirty(segment);
}
}
public void AddChild(BioSegment child)
{
System.Array.Resize(ref Childs, Childs.Length + 1);
Childs[Childs.Length - 1] = child;
}
public static BioObjective AddObjective(BioSegment segment, ObjectiveType type)
{
#if UNITY_EDITOR
if (Application.isPlaying)
{
switch (type)
{
case ObjectiveType.Position:
return((segment.gameObject.AddComponent(typeof(Position)) as BioObjective).Create(segment));
case ObjectiveType.Orientation:
return((segment.gameObject.AddComponent(typeof(Orientation)) as BioObjective).Create(segment));
case ObjectiveType.LookAt:
return((segment.gameObject.AddComponent(typeof(LookAt)) as BioObjective).Create(segment));;
case ObjectiveType.Distance:
return((segment.gameObject.AddComponent(typeof(Distance)) as BioObjective).Create(segment));
case ObjectiveType.JointValue:
return((segment.gameObject.AddComponent(typeof(JointValue)) as BioObjective).Create(segment));
case ObjectiveType.Displacement:
return((segment.gameObject.AddComponent(typeof(Displacement)) as BioObjective).Create(segment));
case ObjectiveType.Projection:
return((segment.gameObject.AddComponent(typeof(Projection)) as BioObjective).Create(segment));
}
}
else
{
switch (type)
{
case ObjectiveType.Position:
return((Undo.AddComponent(segment.gameObject, typeof(Position)) as BioObjective).Create(segment));
case ObjectiveType.Orientation:
return((Undo.AddComponent(segment.gameObject, typeof(Orientation)) as BioObjective).Create(segment));
case ObjectiveType.LookAt:
return((Undo.AddComponent(segment.gameObject, typeof(LookAt)) as BioObjective).Create(segment));
case ObjectiveType.Distance:
return((Undo.AddComponent(segment.gameObject, typeof(Distance)) as BioObjective).Create(segment));
case ObjectiveType.JointValue:
return((Undo.AddComponent(segment.gameObject, typeof(JointValue)) as BioObjective).Create(segment));
case ObjectiveType.Displacement:
return((Undo.AddComponent(segment.gameObject, typeof(Displacement)) as BioObjective).Create(segment));
case ObjectiveType.Projection:
return((Undo.AddComponent(segment.gameObject, typeof(Projection)) as BioObjective).Create(segment));
}
}
return(null);
#else
switch (type)
{
case ObjectiveType.Position:
return((segment.gameObject.AddComponent(typeof(Position)) as BioObjective).Create(segment));
case ObjectiveType.Orientation:
return((segment.gameObject.AddComponent(typeof(Orientation)) as BioObjective).Create(segment));
case ObjectiveType.LookAt:
return((segment.gameObject.AddComponent(typeof(LookAt)) as BioObjective).Create(segment));;
case ObjectiveType.Distance:
return((segment.gameObject.AddComponent(typeof(Distance)) as BioObjective).Create(segment));
case ObjectiveType.JointValue:
return((segment.gameObject.AddComponent(typeof(JointValue)) as BioObjective).Create(segment));
case ObjectiveType.Displacement:
return((segment.gameObject.AddComponent(typeof(Displacement)) as BioObjective).Create(segment));
case ObjectiveType.Projection:
return((segment.gameObject.AddComponent(typeof(Projection)) as BioObjective).Create(segment));
}
return(null);
#endif
}
public BioObjective Create(BioSegment segment)
{
Segment = segment;
hideFlags = HideFlags.HideInInspector;
return(this);
}