internal TrajectoryModel(ref ArrayMemory memory, ref Binary binary)
{
//
// Initialize attributes
//
this.binary = MemoryRef <Binary> .Create(ref binary);
float sampleRate = binary.SampleRate;
float timeHorizon = binary.TimeHorizon;
int trajectoryLength =
DurationToFrames(timeHorizon * 2.0f, sampleRate);
trajectory = memory.CreateSlice <AffineTransform>(trajectoryLength);
for (int i = 0; i < trajectoryLength; ++i)
{
trajectory[i] = AffineTransform.identity;
}
var accumulatedIdentity =
AccumulatedTransform.Create(
AffineTransform.identity, math.rcp(binary.SampleRate));
deltaSpaceTrajectory = memory.CreateSlice <AccumulatedTransform>(trajectoryLength * 2);
for (int i = 0; i < trajectoryLength * 2; ++i)
{
deltaSpaceTrajectory[i] = accumulatedIdentity;
}
Assert.IsTrue(trajectoryLength == TrajectoryLength);
}
internal void Update(AffineTransform worldRootTransform, AffineTransform deltaTransform, float deltaTime)
{
NativeSlice <AffineTransform> trajectory = Array;
int trajectoryLength = TrajectoryLength;
int halfTrajectoryLength = trajectoryLength / 2;
//
// Since the trajectory is relative to the world root transform
// and the synthesizer is adding 'deltaTransform' we need
// to account for this by inverse transforming the
// character space trajectory transforms.
//
var inverseQ = math.normalize(
Missing.conjugate(deltaTransform.q));
for (int i = halfTrajectoryLength; i < trajectoryLength; ++i)
{
var transform = trajectory[i];
transform.t =
Missing.rotateVector(
inverseQ, transform.t);
transform.q = math.normalize(
math.mul(inverseQ, transform.q));
trajectory[i] = transform;
}
//
// Update past trajectory
//
for (int i = deltaSpaceTrajectory.Length - 1; i > 0; --i)
{
deltaSpaceTrajectory[i] = deltaSpaceTrajectory[i - 1];
}
var accumulatedTransform = deltaSpaceTrajectory[1].transform * deltaTransform;
accumulatedTransform.q = math.normalize(accumulatedTransform.q);
deltaSpaceTrajectory[0] =
AccumulatedTransform.Create(
accumulatedTransform, deltaTime);
var referenceTransform = deltaSpaceTrajectory[0].transform;
float sampleTimeInSeconds = 0.0f;
float inverseSampleRate = Missing.recip(Binary.SampleRate);
int numTransforms = deltaSpaceTrajectory.Length;
var sampler = SubSampler.Create();
for (int i = halfTrajectoryLength - 1; i >= 0; --i)
{
sampleTimeInSeconds += inverseSampleRate;
var deltaTransformAtSampleRate =
sampler.SampleAt(deltaSpaceTrajectory,
sampleTimeInSeconds);
trajectory[i] =
referenceTransform.inverseTimes(
deltaTransformAtSampleRate);
}
}
