public void ComputeRootMotion()
{
if (currentAnimation == null || action == null)
{
//Debug.Log("something is wrong at time " + Time.time );
return;
}
AnimationState anim = currentAnimation;
Vector3 displacement = Vector3.zero;
float rotY = 0;
float currentTime = anim.normalizedTime;
CompleteAnimationCurve animCurve = action.animInfo.RootCurve;
displacement.x = animCurve.xPos.Evaluate(currentTime);
displacement.y = animCurve.yPos.Evaluate(currentTime);
displacement.z = animCurve.zPos.Evaluate(currentTime);
rotY = animCurve.yRot.Evaluate(currentTime);
transform.position = initGameObjectPos;
transform.rotation = Quaternion.Euler(0, initGameObjectRotY, 0);
displacement = transform.rotation * displacement;
transform.Translate(displacement, Space.World);
transform.Rotate(new Vector3(0, rotY, 0));
Vector3 forwardProj = new Vector3(-root.right.x, 0, -root.right.z);
Vector3 zVector = new Vector3(0, 0, 1);
float newRotY = AnimationAnalyzer.CalculateAngleOf2Vectors(zVector, forwardProj);
root.RotateAround(transform.position, Vector3.up, -newRotY + initGameObjectRotY + rotY);
root.localPosition = initLocalRootPos;
/****/
xPos = animCurve.xPos;
yPos = animCurve.yPos;
zPos = animCurve.zPos;
yRot = animCurve.yRot;
/****/
}
public float ComputeCost(float meanStepSize, float mass)
{
/*
*
* //if (animInfo.type == LocomotionMode.Idle)
* // return 0;
*
* float spaceCost = animInfo.distance / meanStepSize;
* //if (animInfo.type == LocomotionMode.Turn )
* // spaceCost = 0;
*
* float timeCost = 0;
* if (state != null)
* {
* timeCost = (state as FootstepPlanningState).currentSpeed;
*
* if (animInfo.type == LocomotionMode.Turn || animInfo.type == LocomotionMode.WalkTurn)
* timeCost = animInfo.rotationSpeed * speed;
* }
*
* //timeCost = animInfo.time*animInfo.totalLength;
*
* float angleCost = animInfo.angleCost;
*
* //return timeCost;
* //return spaceCost;
* return spaceCost + timeCost;
* //return spaceCost + timeCost + angleCost;
* //return 1;
*
*/
int samples = animInfo.Root.Length;
float v_0 = 0;
if (state != null)
{
FootstepPlanningState previousState = (state as FootstepPlanningState).previousState;
if (previousState != null)
{
v_0 = previousState.currentSpeed;
}
}
//v_0 = 0;
CompleteAnimationCurve animCurve = animInfo.RootCurve;
float timeInterval = 0.1f;
float endTime = animInfo.time * animInfo.totalLength;
float cost1 = (e_s) * timeInterval;
float cost2 = (e_w * v_0 * v_0) * timeInterval;
//Debug.Log(animInfo.name + " time = " + endTime);
for (float t = 0.1f; t <= endTime; t += timeInterval)
{
float normT = t / animInfo.totalLength;
Vector3 displacement = Vector3.zero;
displacement.x = animCurve.xPos.Evaluate(normT);
displacement.y = animCurve.yPos.Evaluate(normT);
displacement.z = animCurve.zPos.Evaluate(normT);
float v2 = displacement.sqrMagnitude / (t * t);
//Debug.Log(animInfo.name + " v2 = " + v2 + "(at time " + t + ")");
cost1 += (e_s) * timeInterval;
cost2 += (e_w * v2) * timeInterval;
}
float cost = (cost1 + cost2) * mass;
cost += animInfo.angleCost / 180 * 5 * mass;
if (animInfo.type == LocomotionMode.Run)
{
cost *= 2;
}
//Debug.Log("Cost1 of " + animInfo.name + " = " + cost1);
//Debug.Log("Cost2 of " + animInfo.name + " = " + cost2);
//Debug.Log("Cost of " + animInfo.name + " = " + cost);
return(cost);
}
