private Trajectory.Snippet GetCurrentSnippet()
{
Trajectory.Snippet snippet;
int futureFramesNumber = FramesPerPoint * FeaturePoints;
// Get simulated future
List <(Vector3, Quaternion)> futureTransforms = this._mc.GetFuture(futureFramesNumber);
// Convert the (many) Frames to (few) Point and add them to the Trajectory
for (int i = 0; i < FeaturePoints; i++)
{
//Trajectory.Point point = Trajectory.Point.getMedianPoint(futureFrames.GetRange(i * Trajectory.FramesPerPoint, Trajectory.FramesPerPoint));
//Trajectory.Point point = new Trajectory.Point(futureFrames[i * Feature.FramesPerPoint + Feature.FramesPerPoint / 2].GetXZVector2());
Trajectory.Point point = new Trajectory.Point(
futureTransforms[(i + 1) * FramesPerPoint - 1].Item1.GetXZVector2(),
futureTransforms[(i + 1) * FramesPerPoint - 1].Item2
);
this._trajectory.points.Add(point);
}
// Compute the Trajectory Snippet
snippet = this._trajectory.GetLocalSnippet(FeaturePastPoints - 1);
// Remove future Points from Trajectory
this._trajectory.points.RemoveRange(FeaturePastPoints, FeaturePoints);
return(snippet);
}
private Trajectory ComputeFittedTrajectory()
{
Trajectory fittedTrajectory = new Trajectory();
for (
int frameNum = SalamanderController.FramesPerPoint / 2;
frameNum < this.frameList.Count - SalamanderController.FramesPerPoint;
frameNum += SalamanderController.FramesPerPoint
)
{
// Find the median Point of all the frames in the current sample
//Trajectory.Point point = Trajectory.Point.getMedianPoint(
// this.frameList.GetRange(frameNum - SalamanderController.FramesPerPoint / 2, SalamanderController.FramesPerPoint).ConvertAll(
// f => (f.boneDataDict[Bone.Type.root].position.GetXZVector2(), f.boneDataDict[Bone.Type.root].rotation.eulerAngles)
// )
// );
// (TODO FINAL): set it to use root and not hips
Trajectory.Point point = Trajectory.Point.getMedianPoint(
this.frameList.GetRange(frameNum - SalamanderController.FramesPerPoint / 2, SalamanderController.FramesPerPoint).ConvertAll(
f => (f.boneDataDict[Bone.Type.hips].position.GetXZVector2S())
)
);
fittedTrajectory.points.Add(point);
}
return(fittedTrajectory);
}
private Trajectory ComputeFittedTrajectory()
{
Trajectory fittedTrajectory = new Trajectory();
for (
int frameNum = CharacterController.FramesPerPoint / 2;
frameNum < this.frameList.Count - CharacterController.FramesPerPoint;
frameNum += CharacterController.FramesPerPoint
)
{
// Find the median Point of all the frames in the current sample
Trajectory.Point point = Trajectory.Point.getMedianPoint(
this.frameList.GetRange(frameNum - CharacterController.FramesPerPoint / 2, CharacterController.FramesPerPoint).ConvertAll(
f => (f.boneDataDict[Bone.Type.hips].position.GetXZVector2(), f.boneDataDict[Bone.Type.hips].rotation.eulerAngles)
)
);
fittedTrajectory.points.Add(point);
}
return(fittedTrajectory);
}
