public void ReadFromStream(Unity.SnapshotDebugger.Buffer buffer)
{
startTransform = buffer.ReadAffineTransform();
controlPoints = buffer.ReadNativeArray <float3>(out allocator);
navParams = buffer.ReadBlittable <NavigationParams>();
pathSpline.ReadFromStream(buffer);
nextControlPoint = buffer.Read32();
isBuilt = buffer.ReadBlittable <BlittableBool>();
outputTrajectory = buffer.ReadBlittable <DebugIdentifier>();
}
public T ReadObjectFromIdentifier <T>(DebugIdentifier identifier) where T : struct, IDebugObject
{
DebugReference reference = FindObjectReference(identifier);
if (!reference.IsValid)
{
throw new ArgumentException("Identifier not bound to valid reference in debug memory", "identifier");
}
return(ReadObject <T>(reference));
}
public DebugReference FindObjectReference(DebugIdentifier identifier)
{
for (DebugReference debugRef = FirstOrDefault; debugRef.IsValid; debugRef = Next(debugRef))
{
if (debugRef.identifier.Equals(identifier))
{
return(debugRef);
}
}
return(DebugReference.Invalid);
}
public void ReadFromStream(Buffer buffer)
{
trajectory = buffer.ReadBlittable <DebugIdentifier>();
candidates = buffer.ReadBlittable <DebugIdentifier>();
samplingTime = buffer.ReadBlittable <DebugIdentifier>();
closestMatch = buffer.ReadBlittable <DebugIdentifier>();
deviationTable = buffer.ReadBlittable <DebugIdentifier>();
trajectoryWeight = buffer.ReadSingle();
maxDeviation = buffer.ReadSingle();
deviated = buffer.ReadBoolean();
debugName = buffer.ReadFixedString64();
}
Header CreateAndWriteHeader(DebugIdentifier identifier, bool dataOnly)
{
Header header = new Header()
{
reference = new DebugReference()
{
identifier = identifier,
address = buffer.Length,
group = group,
dataOnly = dataOnly
},
nextAddress = -1
};
buffer.WriteBlittable(header);
return(header);
}
bool IsValid(DebugIdentifier identifier)
{
return(identifier.IsValid && identifier.version == version);
}
public void GenerateTrajectory(ref MotionSynthesizer synthesizer, ref Trajectory trajectory)
{
if (GoalReached)
{
return;
}
Assert.IsTrue(trajectory.Length > 0);
if (trajectory.Length == 0)
{
return;
}
AffineTransform rootTransform = synthesizer.WorldRootTransform;
float maxSpeedAtCorner = navParams.desiredSpeed;
if (nextControlPoint < pathSpline.segments.Length - 1)
{
float3 curSegmentDir = pathSpline.segments[nextControlPoint].SegmentDirection;
float3 nextSegmentDir = pathSpline.segments[nextControlPoint + 1].SegmentDirection;
float alignment = math.max(math.dot(curSegmentDir, nextSegmentDir), 0.0f);
maxSpeedAtCorner = math.lerp(navParams.maxSpeedAtRightAngle, navParams.desiredSpeed, alignment);
}
int halfTrajectoryLength = trajectory.Length / 2;
float deltaTime = synthesizer.Binary.TimeHorizon / halfTrajectoryLength;
float distance = 0.0f;
float speed = math.length(synthesizer.CurrentVelocity);
float remainingDistOnSpline = pathSpline.ComputeCurveLength(nextControlPoint);
float remainingDistOnSegment = pathSpline.segments[nextControlPoint].CurveLength;
for (int index = halfTrajectoryLength; index < trajectory.Length; ++index)
{
if (remainingDistOnSpline > 0.0f)
{
// acceleration to reach desired speed
float acceleration = math.clamp((navParams.desiredSpeed - speed) / deltaTime,
-navParams.maximumDeceleration,
navParams.maximumAcceleration);
// decelerate if needed to reach maxSpeedAtCorner
float brakingDistance = 0.0f;
if (remainingDistOnSegment > 0.0f && speed > maxSpeedAtCorner)
{
brakingDistance = NavigationParams.ComputeDistanceToReachSpeed(speed, maxSpeedAtCorner, -navParams.maximumDeceleration);
if (remainingDistOnSegment <= brakingDistance)
{
acceleration = math.min(acceleration, NavigationParams.ComputeAccelerationToReachSpeed(speed, maxSpeedAtCorner, remainingDistOnSegment));
}
}
// decelerate if needed to stop when last control point is reached
brakingDistance = NavigationParams.ComputeDistanceToReachSpeed(speed, 0.0f, -navParams.maximumDeceleration);
if (remainingDistOnSpline <= brakingDistance)
{
acceleration = math.min(acceleration, NavigationParams.ComputeAccelerationToReachSpeed(speed, 0.0f, remainingDistOnSpline));
}
speed += acceleration * deltaTime;
}
else
{
speed = 0.0f;
}
float moveDist = speed * deltaTime;
remainingDistOnSegment -= moveDist;
remainingDistOnSpline -= moveDist;
distance += moveDist;
AffineTransform point = EvaluatePointAtDistance(distance);
trajectory[index] = rootTransform.inverseTimes(point);
}
synthesizer.DebugPushGroup();
synthesizer.DebugWriteUnblittableObject(ref trajectory);
outputTrajectory = trajectory.debugIdentifier;
synthesizer.DebugWriteUnblittableObject(ref this);
}
public void Draw(Camera camera, ref MotionSynthesizer synthesizer, DebugMemory debugMemory, SamplingTime debugSamplingTime, ref DebugDrawOptions options)
{
int fragmentSlot = 0;
DebugDraw.SetMovableTextTitle(options.textWindowIdentifier, DebugWindowTitle);
DeviationTable deviationTable = this.deviationTable.IsValid ? debugMemory.ReadObjectFromIdentifier <DeviationTable>(this.deviationTable) : DeviationTable.CreateInvalid();
SamplingTime samplingTime = GetSamplingTime(debugMemory, this.samplingTime);
if (samplingTime.IsValid)
{
if ((options.drawFlags & DebugDrawFlags.InputFragment) > 0)
{
DebugDraw.DrawFragment(ref synthesizer, samplingTime, options.inputOutputFragmentColor, options.timeOffset, synthesizer.WorldRootTransform);
++fragmentSlot;
}
DebugDraw.AddMovableTextLine(options.textWindowIdentifier, GetFragmentDebugText(ref synthesizer, "Input Clip", samplingTime, options.timeOffset, ref deviationTable), options.inputOutputFragTextColor);
}
SamplingTime closestMatch = GetSamplingTime(debugMemory, this.closestMatch);
DebugIdentifier outputTimeIdentifier = this.closestMatch;
if (closestMatch.IsValid)
{
if ((options.drawFlags & DebugDrawFlags.BestFragment) > 0)
{
DebugDraw.DrawFragment(ref synthesizer, closestMatch, options.bestFragmentColor, options.timeOffset, GetAnchor(synthesizer.WorldRootTransform, fragmentSlot++ *options.distanceOffset, camera));
DebugDraw.AddMovableTextLine(options.textWindowIdentifier, GetFragmentDebugText(ref synthesizer, "Best Match Fragment", closestMatch, options.timeOffset, ref deviationTable), options.bestFragTextColor);
if (maxDeviation >= 0.0f)
{
string deviationMsg = GetDeviationText();
DebugDraw.AddMovableTextLine(options.textWindowIdentifier, deviationMsg, options.bestFragTextColor);
}
Nullable <TrajectoryHeuristicDebug> trajectoryHeuristic = FindTrajectoryHeuristic(debugMemory);
if (trajectoryHeuristic.HasValue)
{
trajectoryHeuristic.Value.DrawDebugText(ref options);
outputTimeIdentifier = trajectoryHeuristic.Value.outputTime;
}
}
}
SamplingTime outputTime = GetOutputPlayTime(debugMemory, samplingTime, closestMatch, outputTimeIdentifier);
if ((options.drawFlags & DebugDrawFlags.OutputFragment) > 0)
{
DebugDraw.DrawFragment(ref synthesizer, outputTime, options.inputOutputFragmentColor, options.timeOffset, GetAnchor(synthesizer.WorldRootTransform, fragmentSlot++ *options.distanceOffset, camera));
DebugDraw.AddMovableTextLine(options.textWindowIdentifier, GetFragmentDebugText(ref synthesizer, "Output Clip", outputTime, options.timeOffset, ref deviationTable, false), options.inputOutputFragTextColor);
}
if (debugSamplingTime.IsValid)
{
if ((options.drawFlags & DebugDrawFlags.SelectedFragment) > 0)
{
int slot = fragmentSlot > 0 ? -1 : 0;
DebugDraw.DrawFragment(ref synthesizer, debugSamplingTime, options.selectedFragmentColor, options.timeOffset, GetAnchor(synthesizer.WorldRootTransform, slot * options.distanceOffset, camera));
DebugDraw.AddMovableTextLine(options.textWindowIdentifier, GetFragmentDebugText(ref synthesizer, "Selected Clip", debugSamplingTime, options.timeOffset, ref deviationTable), options.selectedFragTextColor);
}
}
deviationTable.Dispose();
if ((options.drawFlags & DebugDrawFlags.Trajectory) > 0 && this.trajectory.IsValid)
{
using (Trajectory trajectory = debugMemory.ReadObjectFromIdentifier <Trajectory>(this.trajectory))
{
Binary.TrajectoryFragmentDisplay.Options trajectoryOptions = Binary.TrajectoryFragmentDisplay.Options.Create();
DebugExtensions.DebugDrawTrajectory(synthesizer.WorldRootTransform,
trajectory,
synthesizer.Binary.SampleRate,
options.inputTrajectoryColor,
options.inputTrajectoryColor,
trajectoryOptions.showForward);
}
}
}
static internal SamplingTime GetSamplingTime(DebugMemory debugMemory, DebugIdentifier debugIdentifier)
{
return(debugIdentifier.IsValid ? debugMemory.ReadObjectFromIdentifier <SamplingTime>(debugIdentifier) : SamplingTime.Invalid);
}
SamplingTime GetOutputPlayTime(DebugMemory debugMemory, SamplingTime samplingTime, SamplingTime closestMatch, DebugIdentifier outputTimeIdentifier)
{
if (!closestMatch.IsValid)
{
return(samplingTime);
}
int playAtTimeTypeCode = BurstRuntime.GetHashCode32 <PlayAtTimeDebug>();
for (DebugReference reference = debugMemory.FirstOrDefault; reference.IsValid; reference = debugMemory.Next(reference))
{
if (reference.identifier.typeHashCode != playAtTimeTypeCode)
{
continue;
}
PlayAtTimeDebug playAtTime = debugMemory.ReadObject <PlayAtTimeDebug>(reference);
if (playAtTime.playTime.Equals(outputTimeIdentifier))
{
return(closestMatch);
}
}
return(samplingTime);
}
