public Vector3 GetBoneVelocity(int index, bool mirrored)
{
if (Timestamp - Data.GetDeltaTime() < 0f)
{
return((Data.GetFrame(Timestamp + Data.GetDeltaTime()).GetBoneTransformation(index, mirrored).GetPosition() - GetBoneTransformation(index, mirrored).GetPosition()) / Data.GetDeltaTime());
}
else
{
return((GetBoneTransformation(index, mirrored).GetPosition() - Data.GetFrame(Timestamp - Data.GetDeltaTime()).GetBoneTransformation(index, mirrored).GetPosition()) / Data.GetDeltaTime());
}
}
protected override void DerivedCallback(MotionEditor editor)
{
if (BallInstance == null)
{
BallInstance = editor.GetActor().FindTransform(Data.Source.Bones[Ball].Name);
}
if (BallInstance != null)
{
Matrix4x4 m = ShowSource ? editor.GetCurrentFrame().GetSourceTransformation(Ball, editor.Mirror) : editor.GetCurrentFrame().GetBoneTransformation(Ball, editor.Mirror);
BallInstance.transform.position = m.GetPosition();
BallInstance.transform.rotation = m.GetRotation();
}
if (GetRival() != null)
{
float t = editor.GetCurrentFrame().Timestamp;
MotionData asset = GetRivalAsset(t);
if (asset == null)
{
asset = Data;
}
int[] bones = MotionEditor.GetInstance().GetBoneMapping();
for (int i = 0; i < GetRival().Bones.Length; i++)
{
Matrix4x4 m = asset.GetFrame(t).GetBoneTransformation(bones[i], editor.Mirror);
GetRival().Bones[i].Transform.position = m.GetPosition();
GetRival().Bones[i].Transform.rotation = m.GetRotation();
}
}
}
public Vector3 GetBoneVelocity(int index, bool mirrored, float delta)
{
if (delta == 0f)
{
return(Vector3.zero);
}
if (Timestamp - delta < 0f)
{
return((Data.GetFrame(Timestamp + delta).GetBoneTransformation(index, mirrored).GetPosition() - GetBoneTransformation(index, mirrored).GetPosition()) / delta);
}
else
{
return((GetBoneTransformation(index, mirrored).GetPosition() - Data.GetFrame(Timestamp - delta).GetBoneTransformation(index, mirrored).GetPosition()) / delta);
}
}
public float GetSpeed(bool mirrored)
{
float length = 0f;
Vector3[] positions = new Vector3[6];
positions[0] = GetRootPosition(mirrored);
positions[0].y = 0f;
for (int i = 1; i <= 5; i++)
{
Frame future = Data.GetFrame(Mathf.Clamp(Timestamp + (float)i / 5f, 0f, Data.GetTotalTime()));
positions[i] = future.GetRootPosition(mirrored);
positions[i].y = 0f;
}
for (int i = 1; i <= 5; i++)
{
length += Vector3.Distance(positions[i - 1], positions[i]);
}
return(length);
}
public void Inspector(MotionEditor editor)
{
UltiDraw.Begin();
Utility.SetGUIColor(UltiDraw.Grey);
using (new EditorGUILayout.VerticalScope("Box")) {
Utility.ResetGUIColor();
EditorGUILayout.BeginHorizontal();
if (Utility.GUIButton("+", UltiDraw.DarkGrey, UltiDraw.White, 20f, 20f))
{
AddBone(0);
}
EditorGUILayout.LabelField("Group", GUILayout.Width(40f));
SetName(EditorGUILayout.TextField(ID, GUILayout.Width(100f)));
EditorGUILayout.LabelField("Mask", GUILayout.Width(40));
Mask = InternalEditorUtility.ConcatenatedLayersMaskToLayerMask(EditorGUILayout.MaskField(InternalEditorUtility.LayerMaskToConcatenatedLayersMask(Mask), InternalEditorUtility.layers, GUILayout.Width(100f)));
EditorGUILayout.LabelField("Offset", GUILayout.Width(40f));
Offset = EditorGUILayout.Vector3Field("", Offset, GUILayout.Width(125f));
EditorGUILayout.LabelField("Threshold", GUILayout.Width(60f));
Threshold = EditorGUILayout.FloatField(Threshold, GUILayout.Width(30f));
EditorGUILayout.LabelField("Velocity", GUILayout.Width(60f));
Velocity = EditorGUILayout.FloatField(Velocity, GUILayout.Width(30f));
EditorGUILayout.EndHorizontal();
for (int i = 0; i < Bones.Length; i++)
{
EditorGUILayout.BeginHorizontal();
if (Utility.GUIButton("-", UltiDraw.DarkGrey, UltiDraw.White, 20f, 20f))
{
RemoveBone(i);
i--;
}
else
{
SetBone(i, EditorGUILayout.Popup(Bones[i], editor.GetAsset().Source.GetBoneNames()));
}
EditorGUILayout.EndHorizontal();
}
Frame frame = editor.GetCurrentFrame();
MotionData data = editor.GetAsset();
EditorGUILayout.BeginVertical(GUILayout.Height(10f));
Rect ctrl = EditorGUILayout.GetControlRect();
Rect rect = new Rect(ctrl.x, ctrl.y, ctrl.width, 10f);
EditorGUI.DrawRect(rect, UltiDraw.Black);
float startTime = frame.Timestamp - editor.GetWindow() / 2f;
float endTime = frame.Timestamp + editor.GetWindow() / 2f;
if (startTime < 0f)
{
endTime -= startTime;
startTime = 0f;
}
if (endTime > data.GetTotalTime())
{
startTime -= endTime - data.GetTotalTime();
endTime = data.GetTotalTime();
}
startTime = Mathf.Max(0f, startTime);
endTime = Mathf.Min(data.GetTotalTime(), endTime);
int start = data.GetFrame(startTime).Index;
int end = data.GetFrame(endTime).Index;
int elements = end - start;
Vector3 bottom = new Vector3(0f, rect.yMax, 0f);
Vector3 top = new Vector3(0f, rect.yMax - rect.height, 0f);
start = Mathf.Clamp(start, 1, Module.Data.Frames.Length);
end = Mathf.Clamp(end, 1, Module.Data.Frames.Length);
//Contacts
for (int i = start; i <= end; i++)
{
if (GetContact(data.GetFrame(i), editor.Mirror) == 1f)
{
float left = rect.xMin + (float)(i - start) / (float)elements * rect.width;
float right = left;
while (i < end && GetContact(data.GetFrame(i), editor.Mirror) == 1f)
{
i++;
right = rect.xMin + (float)(i - start) / (float)elements * rect.width;
}
if (left != right)
{
Vector3 a = new Vector3(left, rect.y, 0f);
Vector3 b = new Vector3(right, rect.y, 0f);
Vector3 c = new Vector3(left, rect.y + rect.height, 0f);
Vector3 d = new Vector3(right, rect.y + rect.height, 0f);
UltiDraw.DrawTriangle(a, c, b, UltiDraw.Green);
UltiDraw.DrawTriangle(b, c, d, UltiDraw.Green);
}
}
}
//Current Pivot
top.x = rect.xMin + (float)(frame.Index - start) / elements * rect.width;
bottom.x = rect.xMin + (float)(frame.Index - start) / elements * rect.width;
top.y = rect.yMax - rect.height;
bottom.y = rect.yMax;
UltiDraw.DrawLine(top, bottom, UltiDraw.Yellow);
Handles.DrawLine(Vector3.zero, Vector3.zero); //Somehow needed to get it working...
EditorGUILayout.EndVertical();
}
UltiDraw.End();
}
public Vector3 GetBoneVelocity(int index, bool mirrored)
{
if (Index == 1)
{
return(mirrored ?
((Data.GetFrame(Index + 1).World[Data.Symmetry[index]].GetPosition() - World[Data.Symmetry[index]].GetPosition()) * Data.Framerate).GetMirror(Data.GetAxis(Data.MirrorAxis))
:
(Data.GetFrame(Index + 1).World[index].GetPosition() - World[index].GetPosition()) * Data.Framerate);
}
else
{
return(mirrored ?
((Data.GetFrame(Index + 1).World[Data.Symmetry[index]].GetPosition() - World[Data.Symmetry[index]].GetPosition()) * Data.Framerate).GetMirror(Data.GetAxis(Data.MirrorAxis))
:
(World[index].GetPosition() - Data.GetFrame(Index - 1).World[index].GetPosition()) * Data.Framerate);
}
}
public Frame GetPreviousFrame()
{
return(Data.GetFrame(Mathf.Clamp(Index - 1, 1, Data.GetTotalFrames())));
}
public void Inspector(MotionEditor editor)
{
UltiDraw.Begin();
Utility.SetGUIColor(UltiDraw.Grey);
using (new EditorGUILayout.VerticalScope("Box")) {
Utility.ResetGUIColor();
EditorGUILayout.BeginHorizontal();
EditorGUILayout.LabelField("Bone", GUILayout.Width(40f));
Bone = EditorGUILayout.Popup(Bone, editor.GetData().Source.GetBoneNames(), GUILayout.Width(80f));
EditorGUILayout.LabelField("Mask", GUILayout.Width(30));
Mask = InternalEditorUtility.ConcatenatedLayersMaskToLayerMask(EditorGUILayout.MaskField(InternalEditorUtility.LayerMaskToConcatenatedLayersMask(Mask), InternalEditorUtility.layers, GUILayout.Width(75f)));
EditorGUILayout.LabelField("Capture", GUILayout.Width(50));
Capture = (ID)EditorGUILayout.EnumPopup(Capture, GUILayout.Width(75f));
EditorGUILayout.LabelField("Edit", GUILayout.Width(30));
Edit = (ID)EditorGUILayout.EnumPopup(Edit, GUILayout.Width(75f));
EditorGUILayout.LabelField("Solve Position", GUILayout.Width(80f));
SolvePosition = EditorGUILayout.Toggle(SolvePosition, GUILayout.Width(20f));
EditorGUILayout.LabelField("Solve Rotation", GUILayout.Width(80f));
SolveRotation = EditorGUILayout.Toggle(SolveRotation, GUILayout.Width(20f));
EditorGUILayout.LabelField("Solve Distance", GUILayout.Width(80f));
SolveDistance = EditorGUILayout.Toggle(SolveDistance, GUILayout.Width(20f));
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
EditorGUILayout.LabelField("Offset", GUILayout.Width(40f));
Offset = EditorGUILayout.Vector3Field("", Offset, GUILayout.Width(180f));
EditorGUILayout.LabelField("Threshold", GUILayout.Width(70f));
Threshold = EditorGUILayout.FloatField(Threshold, GUILayout.Width(50f));
EditorGUILayout.LabelField("Tolerance", GUILayout.Width(70f));
Tolerance = EditorGUILayout.FloatField(Tolerance, GUILayout.Width(50f));
EditorGUILayout.LabelField("Velocity", GUILayout.Width(70f));
Velocity = EditorGUILayout.FloatField(Velocity, GUILayout.Width(50f));
EditorGUILayout.LabelField("Weight", GUILayout.Width(60f));
Weight = EditorGUILayout.FloatField(Weight, GUILayout.Width(50f));
EditorGUILayout.EndHorizontal();
Frame frame = editor.GetCurrentFrame();
MotionData data = editor.GetData();
EditorGUILayout.BeginVertical(GUILayout.Height(10f));
Rect ctrl = EditorGUILayout.GetControlRect();
Rect rect = new Rect(ctrl.x, ctrl.y, ctrl.width, 10f);
EditorGUI.DrawRect(rect, UltiDraw.Black);
float startTime = frame.Timestamp - editor.GetWindow() / 2f;
float endTime = frame.Timestamp + editor.GetWindow() / 2f;
if (startTime < 0f)
{
endTime -= startTime;
startTime = 0f;
}
if (endTime > data.GetTotalTime())
{
startTime -= endTime - data.GetTotalTime();
endTime = data.GetTotalTime();
}
startTime = Mathf.Max(0f, startTime);
endTime = Mathf.Min(data.GetTotalTime(), endTime);
int start = data.GetFrame(startTime).Index;
int end = data.GetFrame(endTime).Index;
int elements = end - start;
Vector3 bottom = new Vector3(0f, rect.yMax, 0f);
Vector3 top = new Vector3(0f, rect.yMax - rect.height, 0f);
start = Mathf.Clamp(start, 1, Module.Data.Frames.Length);
end = Mathf.Clamp(end, 1, Module.Data.Frames.Length);
//Contacts
for (int i = start; i <= end; i++)
{
if ((editor.Mirror ? InverseContacts[i - 1] : RegularContacts[i - 1]) == 1f)
{
float left = rect.xMin + (float)(i - start) / (float)elements * rect.width;
float right = left;
while (i < end && (editor.Mirror ? InverseContacts[i - 1] : RegularContacts[i - 1]) != 0f)
{
right = rect.xMin + (float)(i - start) / (float)elements * rect.width;
i++;
}
if (left != right)
{
Vector3 a = new Vector3(left, rect.y, 0f);
Vector3 b = new Vector3(right, rect.y, 0f);
Vector3 c = new Vector3(left, rect.y + rect.height, 0f);
Vector3 d = new Vector3(right, rect.y + rect.height, 0f);
UltiDraw.DrawTriangle(a, c, b, UltiDraw.Green);
UltiDraw.DrawTriangle(b, c, d, UltiDraw.Green);
}
}
}
//Current Pivot
top.x = rect.xMin + (float)(frame.Index - start) / elements * rect.width;
bottom.x = rect.xMin + (float)(frame.Index - start) / elements * rect.width;
top.y = rect.yMax - rect.height;
bottom.y = rect.yMax;
UltiDraw.DrawLine(top, bottom, UltiDraw.Yellow);
Handles.DrawLine(Vector3.zero, Vector3.zero); //Somehow needed to get it working...
EditorGUILayout.EndVertical();
}
UltiDraw.End();
}
private IEnumerator Process()
{
if (Editor != null)
{
Processing = true;
foreach (Asset a in Assets)
{
a.Processed = false;
}
int count = 0;
if (Pipeline == PIPELINE.Basketball)
{
string referenceBone = string.Empty;
MotionData referenceData = null;
foreach (Asset a in Assets)
{
if (a.Selected)
{
count += 1;
MotionData data = OfflineProcessing ? Editor.GetAsset(a.GUID) : Editor.LoadData(a.GUID);
while (!OfflineProcessing && !data.GetScene().isLoaded)
{
Debug.Log("Waiting for scene being loaded...");
yield return(new WaitForSeconds(0f));
}
//START OF PROCESSING
// Reset motion data
foreach (Frame frame in data.Frames)
{
frame.ResetTransformations();
}
// Global
data.RemoveAllModules();
data.MirrorAxis = Axis.ZPositive;
// 1on1 Ball Copying
{
string GetID(MotionData asset)
{
return(asset.GetName().Substring(0, asset.GetName().LastIndexOf("_P0")));
}
referenceBone = "Player 01:Ball";
if (data.GetName().Contains("_P0"))
{
if (data.GetName().Contains("_P01"))
{
referenceData = data;
}
else if (GetID(data) == GetID(referenceData))
{
data.SampleTransformations(referenceData, referenceBone);
}
else
{
Debug.LogError("Skipping asset " + data.GetName() + " as information of P01 is not of same capture.");
}
}
else
{
Debug.LogError("Skipping asset " + data.GetName() + " as it does not contain player information.");
}
}
{
RootModule root = data.AddModule <RootModule>();
root.Root = data.Source.FindBone("Player 01:Hips").Index;
root.RightShoulder = data.Source.FindBone("Player 01:LeftShoulder").Index;
root.LeftShoulder = data.Source.FindBone("Player 01:RightShoulder").Index;
root.RightHip = data.Source.FindBone("Player 01:LeftUpLeg").Index;
root.LeftHip = data.Source.FindBone("Player 01:RightUpLeg").Index;
root.Neck = data.Source.FindBone("Player 01:Neck").Index;
root.Hips = data.Source.FindBone("Player 01:Hips").Index;
root.Smooth = true;
root.Topology = RootModule.TOPOLOGY.Biped;
root.ForwardAxis = Axis.XPositive;
}
{
ContactModule contact = data.AddModule <ContactModule>();
contact.Clear();
contact.AddSensor("Player 01:LeftFootEnd", "Player 01:LeftFootEnd", Vector3.zero, 0.075f, 1f, -1);
contact.AddSensor("Player 01:RightFootEnd", "Player 01:RightFootEnd", Vector3.zero, 0.075f, 1f, -1);
contact.AddSensor("Player 01:LeftHand", "Player 01:LeftHand", new Vector3(-0.1f, 0f, 0f), 0.075f, 0f, -1);
contact.AddSensor("Player 01:RightHand", "Player 01:RightHand", new Vector3(-0.1f, 0f, 0f), 0.075f, 0f, -1);
contact.AddSensor("Player 01:Ball", "Player 01:Ball", Vector3.zero, 0.2f, 0f, LayerMask.GetMask("Ground"));
contact.CaptureContacts(Editor);
}
{
DribbleModule dribble = data.AddModule <DribbleModule>();
dribble.Area = 2.5f;
dribble.Radius = 0.125f;
dribble.Axis = Axis.YPositive;
Matrix4x4[] motion = dribble.CleanupBallTransformations(false);
for (int i = 0; i < data.Frames.Length; i++)
{
data.Frames[i].Transformations[dribble.Ball] = motion[i];
}
data.GetModule <ContactModule>().CaptureContacts(Editor);
}
{
StyleModule style = data.AddModule <StyleModule>();
RootModule root = data.GetModule <RootModule>();
DribbleModule dribble = data.GetModule <DribbleModule>();
style.Clear();
StyleModule.StyleFunction standing = style.AddStyle("Stand");
StyleModule.StyleFunction moving = style.AddStyle("Move");
StyleModule.StyleFunction dribbling = style.AddStyle("Dribble");
StyleModule.StyleFunction holding = style.AddStyle("Hold");
StyleModule.StyleFunction shooting = style.AddStyle("Shoot");
float threshold = 1f;
for (int f = 0; f < data.Frames.Length; f++)
{
float[] timestamps = data.SimulateTimestamps(data.Frames[f], 30);
float[] weights = new float[timestamps.Length];
for (int j = 0; j < timestamps.Length; j++)
{
weights[j] = Mathf.Clamp(root.GetRootVelocity(timestamps[j], false).magnitude, 0f, threshold);
weights[j] = weights[j].Normalize(0f, threshold, 0, 1f);
weights[j] = weights[j].SmoothStep(2f, 0.5f);
}
float weight = weights.Gaussian().SmoothStep(2f, 0.5f);
standing.Values[f] = 1f - weight;
moving.Values[f] = weight;
dribbling.Values[f] = dribble.IsDribbling(data.Frames[f].Timestamp, false) ? 1f : 0f;
holding.Values[f] = dribble.IsHolding(data.Frames[f].Timestamp, false) ? 1f : 0f;
shooting.Values[f] = dribble.IsShooting(data.Frames[f].Timestamp, false) ? 1f : 0f;
}
style.Mode = StyleModule.DRAWING.Frames;
style.GenerateKeys();
}
{
PhaseModule phase = data.AddModule <PhaseModule>();
ContactModule contact = data.GetModule <ContactModule>();
phase.Inspect = true;
phase.SetFunctions(contact.GetNames());
phase.ShowNormalized = true;
phase.ShowHighlighted = true;
phase.ShowValues = true;
phase.ShowFitting = true;
phase.ShowZero = true;
phase.ShowPhase = true;
phase.ShowWindow = false;
phase.DisplayValues = false;
phase.MaxIterations = 50;
phase.Individuals = 50;
phase.Elites = 5;
phase.Exploration = 0.2f;
phase.Memetism = 0.1f;
phase.MaxFrequency = 4f;
phase.RescalingMethod = PhaseModule.Rescaling.Window;
phase.ApplyButterworth = true;
phase.StartFitting();
while (phase.IsFitting())
{
yield return(new WaitForSeconds(0f));
}
}
//END OF PROCESSING
data.MarkDirty();
a.Processed = true;
}
}
foreach (Asset a in Assets)
{
if (a.Selected)
{
MotionData data = Editor.LoadData(a.GUID);
while (!data.GetScene().isLoaded)
{
Debug.Log("Waiting for scene being loaded...");
yield return(new WaitForSeconds(0f));
}
//START OF PROCESSING
data.GetModule <DribbleModule>().ComputeInteraction();
//END OF PROCESSING
if (SaveAfterProcessing)
{
data.MarkDirty(true, !OfflineProcessing);
}
a.Processed = true;
yield return(new WaitForSeconds(0f));
}
}
if (SaveAfterProcessing)
{
AssetDatabase.SaveAssets();
AssetDatabase.Refresh();
}
}
if (Pipeline == PIPELINE.Quadruped)
{
foreach (Asset a in Assets)
{
if (a.Selected)
{
count += 1;
MotionData data = OfflineProcessing ? Editor.GetAsset(a.GUID) : Editor.LoadData(a.GUID);
while (!OfflineProcessing && !data.GetScene().isLoaded)
{
Debug.Log("Waiting for scene being loaded...");
yield return(new WaitForSeconds(0f));
}
// START OF PROCESSING
// Reset motion data
foreach (Frame frame in data.Frames)
{
frame.ResetTransformations();
}
// Global
data.RemoveAllModules();
data.Scale = 0.01f;
data.MirrorAxis = Axis.ZPositive;
data.Source.FindBone("Head").Alignment = new Vector3(90f, 0f, 0f);
data.Source.FindBone("Tail").Alignment = new Vector3(-45f, 0f, 0f);
data.Source.FindBone("Tail1").Alignment = new Vector3(-45f, 0f, 0f);
data.Source.FindBone("Tail1Site").Alignment = new Vector3(-45f, 0f, 0f);
{
ContactModule contact = data.AddModule <ContactModule>();
contact.Clear();
contact.AddSensor("Hips", "Hips", Vector3.zero, 0.2f, 1f, LayerMask.GetMask("Ground"));
contact.AddSensor("Neck", "Neck", Vector3.zero, 0.25f, 1f, LayerMask.GetMask("Ground"));
contact.AddSensor("LeftHandSite", new string[] { "LeftForeArm", "LeftHandSite" }, Vector3.zero, 1f / 30f, 1f, LayerMask.GetMask("Ground"));
contact.AddSensor("RightHandSite", new string[] { "RightForeArm", "RightHandSite" }, Vector3.zero, 1f / 30f, 1f, LayerMask.GetMask("Ground"));
contact.AddSensor("LeftFootSite", "LeftFootSite", Vector3.zero, 1f / 30f, 1f, LayerMask.GetMask("Ground"));
contact.AddSensor("RightFootSite", "RightFootSite", Vector3.zero, 1f / 30f, 1f, LayerMask.GetMask("Ground"));
contact.CaptureContacts(Editor);
}
{
StyleModule style = data.AddModule <StyleModule>();
RootModule root = data.AddModule <RootModule>();
root.Topology = RootModule.TOPOLOGY.Quadruped;
ContactModule contact = data.GetModule <ContactModule>();
style.Clear();
StyleModule.StyleFunction idling = style.AddStyle("Idle");
StyleModule.StyleFunction moving = style.AddStyle("Move");
StyleModule.StyleFunction sitting = style.AddStyle("Sit");
StyleModule.StyleFunction resting = style.AddStyle("Rest");
StyleModule.StyleFunction standing = style.AddStyle("Stand");
StyleModule.StyleFunction jumping = style.AddStyle("Jump");
StyleModule.StyleFunction speed = style.AddStyle("Speed");
float[] timeWindow = data.GetTimeWindow(MotionEditor.GetInstance().PastWindow + MotionEditor.GetInstance().FutureWindow, 1f);
float[] contactHeights = new float[data.Frames.Length];
List <float[]> sitPatterns = new List <float[]>()
{
new float[] { 1f, 0f, 1f, 1f, 1f, 1f },
new float[] { 1f, 0f, 0f, 1f, 1f, 1f },
new float[] { 1f, 0f, 1f, 0f, 1f, 1f }
};
List <float[]> restPatterns = new List <float[]>()
{
new float[] { 1f, 1f, 1f, 1f, 1f, 1f }
};
List <float[]> standPatterns = new List <float[]>()
{
new float[] { 1f, 0f, 0f, 0f, 1f, 1f }
};
List <float[]> jumpPatterns = new List <float[]>()
{
new float[] { 0f, 0f, 0f, 0f, 0f, 0f }
};
for (int i = 0; i < data.Frames.Length; i++)
{
for (int j = 0; j < contact.Sensors.Length; j++)
{
contactHeights[i] += data.Frames[i].GetBoneTransformation(contact.Sensors[j].Bones.Last(), false).GetPosition().y;
}
contactHeights[i] /= contact.Sensors.Length;
}
for (int f = 0; f < data.Frames.Length; f++)
{
float weight = GetMovementWeight(data.Frames[f].Timestamp, 0.5f, 0.5f);
idling.Values[f] = 1f - weight;
moving.Values[f] = weight;
float sit = GetContactsWeight(data.Frames[f].Timestamp, 0.5f, contact, sitPatterns, 0f, 1f);
float rest = GetContactsWeight(data.Frames[f].Timestamp, 0.5f, contact, restPatterns, 0f, 1f);
float stand = GetContactsWeight(data.Frames[f].Timestamp, 0.5f, contact, standPatterns, 0f, 1f);
float jump = GetContactsWeight(data.Frames[f].Timestamp, 0.5f, contact, jumpPatterns, 0.3f, 0.1f);
float[] actions = new float[] { sit, rest, stand, jump };
Utility.SoftMax(ref actions);
sitting.Values[f] = sit;
resting.Values[f] = rest;
standing.Values[f] = stand;
jumping.Values[f] = jump;
speed.Values[f] = GetRootSpeed(data.Frames[f].Timestamp);
}
float GetRootSpeed(float timestamp)
{
return(Compute());
float Compute()
{
Vector3[] positions = new Vector3[timeWindow.Length];
for (int i = 0; i < timeWindow.Length; i++)
{
positions[i] = root.GetRootPosition(timestamp + timeWindow[i], false);
}
float length = 0f;
for (int i = 1; i < positions.Length; i++)
{
length += Vector3.Distance(positions[i - 1], positions[i]);
}
return(length / (timeWindow.Last() - timeWindow.First()));
}
}
float GetMovementWeight(float timestamp, float window, float threshold)
{
float[] weights = new float[timeWindow.Length];
for (int j = 0; j < timeWindow.Length; j++)
{
weights[j] = Mathf.Clamp(root.GetRootVelocity(timestamp + timeWindow[j], false).magnitude, 0f, threshold) / threshold;
}
float[] gradients = new float[weights.Length - 1];
for (int i = 0; i < gradients.Length; i++)
{
gradients[i] = (weights[i + 1] - weights[i]) / (timeWindow[i + 1] - timeWindow[i]);
}
float gradient = Mathf.Abs(gradients.Gaussian());
return(weights.Gaussian(gradient).SmoothStep(2f, 0.5f));
}
float GetContactsWeight(float timestamp, float window, ContactModule module, List <float[]> patterns, float heightThreshold, float power)
{
float ContactGaussian(float t)
{
float[] weights = new float[timeWindow.Length];
for (int j = 0; j < timeWindow.Length; j++)
{
bool match = false;
for (int i = 0; i < patterns.Count; i++)
{
float[] contacts = module.GetContacts(t + timeWindow[j], false);
match = ArrayExtensions.Equal(contacts, patterns[i]).All(true);
if (match)
{
break;
}
}
if (match && heightThreshold != 0f && contactHeights[data.GetFrame(t).Index - 1] < heightThreshold)
{
match = false;
}
weights[j] = match ? 1f : 0f;
}
return(weights.Gaussian());
}
float weight = ContactGaussian(timestamp);
weight = Mathf.Pow(weight, 1f - weight);
return(Mathf.Pow(weight, power));
}
style.Mode = StyleModule.DRAWING.Frames;
}
{
PhaseModule phase = data.AddModule <PhaseModule>();
phase.Inspect = true;
RootModule root = data.GetModule <RootModule>();
ContactModule contact = data.GetModule <ContactModule>();
phase.SetFunctions(contact.GetNames());
phase.ShowNormalized = true;
phase.ShowHighlighted = true;
phase.ShowValues = true;
phase.ShowFitting = true;
phase.ShowZero = true;
phase.ShowPhase = true;
phase.ShowWindow = false;
phase.DisplayValues = false;
phase.MaxIterations = 50;
phase.Individuals = 100;
phase.Elites = 10;
phase.Exploration = 0.2f;
phase.Memetism = 0.1f;
phase.MaxFrequency = 4f;
phase.RescalingMethod = PhaseModule.Rescaling.Window;
phase.ApplyButterworth = true;
phase.StartFitting();
while (phase.IsFitting())
{
yield return(new WaitForSeconds(0f));
}
}
//END OF PROCESSING
if (SaveAfterProcessing)
{
data.MarkDirty(true, !OfflineProcessing);
}
a.Processed = true;
yield return(new WaitForSeconds(0f));
}
}
for (int i = 0; i < Editor.Assets.Length; i++)
{
Editor.GetAsset(i).ResetSequences();
Editor.GetAsset(i).Export = false;
}
Editor.GetAsset(0).Export = true;
Editor.GetAsset(0).SetSequence(0, 180, 1531);
Editor.GetAsset(2).Export = true;
Editor.GetAsset(2).SetSequence(0, 680, 820);
Editor.GetAsset(6).Export = true;
Editor.GetAsset(6).SetSequence(0, 90, 593);
Editor.GetAsset(7).Export = true;
Editor.GetAsset(7).SetSequence(0, 290, 1072);
Editor.GetAsset(8).Export = true;
Editor.GetAsset(8).SetSequence(0, 1, 50);
Editor.GetAsset(8).SetSequence(1, 400, 911);
Editor.GetAsset(9).Export = true;
Editor.GetAsset(10).Export = true;
Editor.GetAsset(10).SetSequence(0, 230, 548);
Editor.GetAsset(11).Export = true;
Editor.GetAsset(11).SetSequence(0, 400, 567);
Editor.GetAsset(12).Export = true;
Editor.GetAsset(13).Export = true;
Editor.GetAsset(14).Export = true;
Editor.GetAsset(16).Export = true;
Editor.GetAsset(16).SetSequence(0, 200, 550);
Editor.GetAsset(17).Export = true;
Editor.GetAsset(17).SetSequence(0, 470, 720);
Editor.GetAsset(18).Export = true;
Editor.GetAsset(18).SetSequence(0, 175, 395);
Editor.GetAsset(19).Export = true;
Editor.GetAsset(19).SetSequence(0, 300, 750);
Editor.GetAsset(19).SetSequence(1, 1040, 1079);
Editor.GetAsset(20).Export = true;
Editor.GetAsset(21).Export = true;
Editor.GetAsset(21).SetSequence(0, 1, 1300);
Editor.GetAsset(21).SetSequence(1, 2950, 3530);
Editor.GetAsset(21).SetSequence(2, 3730, 4200);
Editor.GetAsset(22).Export = true;
Editor.GetAsset(23).Export = true;
Editor.GetAsset(23).Export = true;
Editor.GetAsset(24).Export = true;
Editor.GetAsset(24).SetSequence(0, 200, 630);
Editor.GetAsset(25).Export = true;
Editor.GetAsset(25).SetSequence(0, 1, 2690);
Editor.GetAsset(25).SetSequence(1, 2760, 4336);
Editor.GetAsset(26).Export = true;
Editor.GetAsset(27).Export = true;
Editor.GetAsset(27).SetSequence(0, 1, 1100);
Editor.GetAsset(27).SetSequence(1, 2820, 3940);
Editor.GetAsset(27).SetSequence(2, 4100, 4500);
Editor.GetAsset(27).SetSequence(3, 5660, 6010);
Editor.GetAsset(27).SetSequence(4, 6600, 7200);
Editor.GetAsset(27).SetSequence(5, 12300, 12850);
Editor.GetAsset(27).SetSequence(6, 13200, 13399);
Editor.GetAsset(28).Export = true;
Editor.GetAsset(28).SetSequence(0, 920, 985);
Editor.GetAsset(28).SetSequence(1, 1700, 1907);
Editor.GetAsset(29).Export = true;
Editor.GetAsset(29).SetSequence(0, 250, 790);
Editor.GetAsset(29).SetSequence(1, 970, 1575);
Editor.GetAsset(29).SetSequence(2, 1630, 1750);
Editor.GetAsset(30).Export = true;
Editor.GetAsset(30).SetSequence(0, 1790, 1920);
Editor.GetAsset(30).SetSequence(1, 2070, 2470);
Editor.GetAsset(30).SetSequence(2, 2770, 3025);
Editor.GetAsset(31).Export = true;
Editor.GetAsset(31).SetSequence(0, 170, 500);
Editor.GetAsset(31).SetSequence(1, 1250, 2460);
Editor.GetAsset(31).SetSequence(2, 3040, 3200);
Editor.GetAsset(31).SetSequence(3, 4680, 6550);
Editor.GetAsset(31).SetSequence(4, 7600, 9450);
Editor.GetAsset(31).SetSequence(5, 11540, 11691);
Editor.GetAsset(32).Export = true;
Editor.GetAsset(32).SetSequence(0, 1, 300);
Editor.GetAsset(32).SetSequence(1, 1360, 1540);
Editor.GetAsset(32).SetSequence(2, 2380, 3086);
Editor.GetAsset(33).Export = true;
Editor.GetAsset(33).SetSequence(0, 1, 1170);
Editor.GetAsset(33).SetSequence(1, 1980, 2160);
Editor.GetAsset(33).SetSequence(2, 7830, 8090);
Editor.GetAsset(34).Export = true;
Editor.GetAsset(34).SetSequence(0, 1, 270);
Editor.GetAsset(34).SetSequence(1, 2490, 2856);
Editor.GetAsset(35).Export = true;
Editor.GetAsset(37).Export = true;
Editor.GetAsset(38).Export = true;
Editor.GetAsset(38).SetSequence(0, 3330, 3900);
Editor.GetAsset(39).Export = true;
Editor.GetAsset(39).SetSequence(0, 880, 920);
Editor.GetAsset(39).SetSequence(1, 1280, 5052);
Editor.GetAsset(41).Export = true;
Editor.GetAsset(41).SetSequence(0, 4690, 6190);
Editor.GetAsset(42).Export = true;
Editor.GetAsset(42).SetSequence(0, 900, 3594);
Editor.GetAsset(43).Export = true;
Editor.GetAsset(43).SetSequence(0, 1, 500);
Editor.GetAsset(43).SetSequence(1, 4340, 4577);
Editor.GetAsset(44).Export = true;
Editor.GetAsset(44).SetSequence(0, 1, 700);
Editor.GetAsset(44).SetSequence(1, 950, 2000);
Editor.GetAsset(45).Export = true;
Editor.GetAsset(45).SetSequence(0, 1, 410);
Editor.GetAsset(45).SetSequence(1, 680, 778);
Editor.GetAsset(46).Export = true;
Editor.GetAsset(46).SetSequence(0, 175, 235);
Editor.GetAsset(47).Export = true;
Editor.GetAsset(47).SetSequence(0, 275, 498);
Editor.GetAsset(48).Export = true;
Editor.GetAsset(48).SetSequence(0, 1, 220);
Editor.GetAsset(48).SetSequence(1, 675, 748);
Editor.GetAsset(49).Export = true;
Editor.GetAsset(49).SetSequence(0, 1, 700);
Editor.GetAsset(49).SetSequence(1, 1510, 8300);
Editor.GetAsset(50).Export = true;
Editor.GetAsset(50).SetSequence(0, 200, 1000);
Editor.GetAsset(50).SetSequence(1, 1850, 2100);
Editor.GetAsset(50).SetSequence(2, 4150, 4700);
Editor.GetAsset(50).SetSequence(3, 5030, 5356);
//Mark for saving
for (int i = 0; i < Editor.Assets.Length; i++)
{
Editor.GetAsset(i).MarkDirty(true, false);
}
if (SaveAfterProcessing)
{
AssetDatabase.SaveAssets();
AssetDatabase.Refresh();
}
}
Processing = false;
foreach (Asset a in Assets)
{
a.Processed = false;
}
yield return(new WaitForSeconds(0f));
Debug.Log("Finished processing " + count + " assets.");
}
}
private IEnumerator ExportData()
{
if (Editor == null)
{
Debug.Log("No editor found.");
}
else if (!System.IO.Directory.Exists(GetExportPath()))
{
Debug.Log("No export folder found at " + GetExportPath() + ".");
}
else
{
Aborting = false;
Exporting = true;
Progress = 0f;
int sequence = 0;
int items = 0;
int samples = 0;
DateTime timestamp = Utility.GetTimestamp();
StreamWriter S = CreateFile("Sequences");
Data X = new Data(CreateFile("Input"), CreateFile("InputNorm"), CreateFile("InputLabels"));
Data Y = new Data(CreateFile("Output"), CreateFile("OutputNorm"), CreateFile("OutputLabels"));
StreamWriter CreateFile(string name)
{
return(File.CreateText(GetExportPath() + "/" + name + ".txt"));
}
for (int i = 0; i < Assets.Length; i++)
{
Assets[i].Exported = false;
}
for (int i = 0; i < Assets.Length; i++)
{
if (Aborting)
{
break;
}
if (Assets[i].Selected)
{
MotionData data = Editor.LoadData(Assets[i].GUID);
while (!data.GetScene().isLoaded)
{
Debug.Log("Waiting for scene being loaded...");
yield return(new WaitForSeconds(0f));
}
if (!data.Export)
{
Debug.Log("Skipping Asset: " + data.GetName());
yield return(new WaitForSeconds(0f));
continue;
}
for (int m = 1; m <= 2; m++)
{
if (m == 1)
{
Editor.SetMirror(false);
}
if (m == 2)
{
Editor.SetMirror(true);
}
if (!Editor.Mirror || WriteMirror && Editor.Mirror)
{
// Debug.Log("Exporting asset " + data.GetName() + " " + (Editor.Mirror ? "[Mirror]" : "[Default]"));
for (int shift = 0; shift <= FrameShifts; shift++)
{
foreach (Sequence seq in data.Sequences)
{
sequence += 1;
float start = Editor.CeilToTargetTime(data.GetFrame(seq.Start).Timestamp);
float end = Editor.FloorToTargetTime(data.GetFrame(seq.End).Timestamp);
int index = 0;
while (start + (index + 1) / Editor.TargetFramerate + shift / data.Framerate <= end)
{
Editor.SetRandomSeed(Editor.GetCurrentFrame().Index);
S.WriteLine(sequence.ToString());
float tCurrent = start + index / Editor.TargetFramerate + shift / data.Framerate;
float tNext = start + (index + 1) / Editor.TargetFramerate + shift / data.Framerate;
if (Pipeline == PIPELINE.Basketball)
{
BasketballSetup.Export(this, X, Y, tCurrent, tNext);
}
if (Pipeline == PIPELINE.Quadruped)
{
QuadrupedSetup.Export(this, X, Y, tCurrent, tNext);
}
X.Store();
Y.Store();
index += 1;
Progress = (index / Editor.TargetFramerate) / (end - start);
items += 1;
samples += 1;
if (items >= FrameBuffer)
{
Performance = items / (float)Utility.GetElapsedTime(timestamp);
timestamp = Utility.GetTimestamp();
items = 0;
yield return(new WaitForSeconds(0f));
}
}
Progress = 0f;
}
}
}
}
Assets[i].Exported = true;
}
}
S.Close();
X.Finish();
Y.Finish();
Aborting = false;
Exporting = false;
Progress = 0f;
foreach (Asset a in Assets)
{
a.Exported = false;
}
yield return(new WaitForSeconds(0f));
Debug.Log("Exported " + samples + " samples.");
}
}
public string[] GenerateLines(MotionData data)
{
string[] result = new string[data.Frames.Length - 60];
for (int i = 30; i < data.Frames.Length - 30; i++)
{
if (data.Modules != null)
{
for (int k = 0; k < data.Modules.Length; k++)
{
switch (data.Modules[k].GetID())
{
case Module.ID.Velocity:
{
VelocityModule module = (VelocityModule)data.GetModule(Module.ID.Velocity);
module.GetTransformations(data.GetFrame(i));
module.GetVelocities(data.GetFrame(i), 1.0f);
for (int j = 0; j < data.Root.Bones.Length; j++)
{
if (module.Selected[j])
{
result[i - 30] += data.Frames[i].GetBoneTransformation(j, data.Mirrored).GetPosition().x.ToString() + " ";
result[i - 30] += data.Frames[i].GetBoneTransformation(j, data.Mirrored).GetPosition().y.ToString() + " ";
result[i - 30] += data.Frames[i].GetBoneTransformation(j, data.Mirrored).GetPosition().z.ToString() + " ";
result[i - 30] += data.Frames[i].GetBoneTransformation(j, data.Mirrored).GetForward().x.ToString() + " ";
result[i - 30] += data.Frames[i].GetBoneTransformation(j, data.Mirrored).GetForward().y.ToString() + " ";
result[i - 30] += data.Frames[i].GetBoneTransformation(j, data.Mirrored).GetForward().z.ToString() + " ";
result[i - 30] += data.Frames[i].GetBoneTransformation(j, data.Mirrored).GetUp().x.ToString() + " ";
result[i - 30] += data.Frames[i].GetBoneTransformation(j, data.Mirrored).GetUp().y.ToString() + " ";
result[i - 30] += data.Frames[i].GetBoneTransformation(j, data.Mirrored).GetUp().z.ToString() + " ";
result[i - 30] += module.Velocities[j].x.ToString() + " ";
result[i - 30] += module.Velocities[j].y.ToString() + " ";
result[i - 30] += module.Velocities[j].z.ToString() + " ";
}
}
break;
}
case Module.ID.Action:
{
ActionModule module = (ActionModule)data.GetModule(Module.ID.Action);
result[i - 30] += module.GetHotVector(i) + " ";
break;
}
case Module.ID.Phase:
{
PhaseModule module = (PhaseModule)data.GetModule(Module.ID.Phase);
result[i - 30] += module.Phases[1].LocalPhase.Phase[i] + " ";
result[i - 30] += module.Phases[2].LocalPhase.Phase[i] + " ";
break;
}
case Module.ID.Trajectory:
{
TrajectoryModule module = (TrajectoryModule)data.GetModule(Module.ID.Trajectory);
for (int j = 0; j < module.Pivots.Length; j++)
{
for (int p = 0; p < module.Pivots[j].Transformations.Length; p++)
{
result[i - 30] += module.Pivots[j].Transformations[p].GetPosition().x.ToString() + " ";
result[i - 30] += module.Pivots[j].Transformations[p].GetPosition().y.ToString() + " ";
result[i - 30] += module.Pivots[j].Transformations[p].GetPosition().z.ToString() + " ";
result[i - 30] += module.Pivots[j].Velocities[p].x.ToString() + " ";
result[i - 30] += module.Pivots[j].Velocities[p].y.ToString() + " ";
result[i - 30] += module.Pivots[j].Velocities[p].z.ToString() + " ";
result[i - 30] += module.Pivots[j].HotVectors[p] + " ";
result[i - 30] += module.Pivots[j].Phases[p].ToString() + " ";
}
}
break;
}
}
}
}
}
return(result);
}
