implementation of drecon in unity 2022 lts
forked from:
https://github.com/joanllobera/marathon-envs
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363 lines
15 KiB
363 lines
15 KiB
7 months ago
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Linq;
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using ManyWorlds;
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using Unity.Collections;
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using UnityEngine;
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public class MarConObservationsStats : MonoBehaviour
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{
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[Header("Anchor stats")]
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public Vector3 HorizontalDirection; // Normalized vector in direction of travel (assume right angle to floor)
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public Vector3 AngualrVelocity;
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[Header("Stats, relative to HorizontalDirection & Center Of Mass")]
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public Vector3 CenterOfMassVelocity;
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public Vector3 CenterOfMassHorizontalVelocity;
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public float CenterOfMassVelocityMagnitude;
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public Vector3 CenterOfMassVelocityInRootSpace;
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public float CenterOfMassVelocityMagnitudeInRootSpace;
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public float CenterOfMassHorizontalVelocityMagnitude;
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public Vector3 DesiredCenterOfMassVelocity;
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public Vector3 CenterOfMassVelocityDifference;
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[HideInInspector] public Vector3 LastCenterOfMassInWorldSpace;
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[HideInInspector] public Quaternion LastRotation;
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[Header("Stats, in local joint space")]
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public float[] DofRotationWithinRangeOfMotion;
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public float[] DofAngularVelocity;
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public float[] DofRotationInRad;
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[HideInInspector] public float[] DofLastRotationInRad;
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ArticulationBody[] _articulationBodyJoints;
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Rigidbody[] _rigidBodyJoints;
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GameObject[] _jointsToTrack;
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Collider[] _collidersToTrack;
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GameObject[] _jointForTrackedColliders;
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public Vector3[] Positions;
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public Quaternion[] Rotations;
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public Vector3[] Velocities;
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public Vector3[] AngualrVelocities;
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[HideInInspector]
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public Vector3[] LastLocalPositions;
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[HideInInspector]
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public Quaternion[] LastLocalRotations;
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bool LastIsSet;
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MapAnim2Ragdoll _mapAnim2Ragdoll;
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GameObject _root;
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IAnimationController _animationController;
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SpawnableEnv _spawnableEnv;
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public void OnAgentInitialize(
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Transform defaultTransform,
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ArticulationBody[] articulationBodyJoints,
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ArticulationBody articulationBodyRoot)
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{
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_mapAnim2Ragdoll = defaultTransform.GetComponent<MapAnim2Ragdoll>();
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_spawnableEnv = GetComponentInParent<SpawnableEnv>();
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_animationController = _spawnableEnv.GetComponentInChildren<IAnimationController>();
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var jointNames = articulationBodyJoints
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.Select(x=>x.name)
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.Select(x=>x.Replace("articulation:", ""))
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.Select(x=>x.Replace("mixamorig:", ""))
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.ToArray();
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_articulationBodyJoints = articulationBodyJoints;
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_rigidBodyJoints = GetComponentsInChildren<Rigidbody>();
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if (_rigidBodyJoints.Length > 0)
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{
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_jointsToTrack = jointNames
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.Select(x=>_rigidBodyJoints.First(y => y.name.EndsWith(x)))
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.Select(x=>x.gameObject)
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.ToArray();
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}
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else
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{
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_jointsToTrack = jointNames
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.Select(x=>articulationBodyJoints.First(y => y.name.EndsWith(x)))
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.Select(x=>x.gameObject)
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.ToArray();
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}
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_collidersToTrack = _jointsToTrack
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.SelectMany(x=>x.GetComponentsInChildren<Collider>())
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.Where(x => x.enabled)
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.Where(x => !x.isTrigger)
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.Where(x=> {
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var ignoreCollider = x.GetComponent<IgnoreColliderForObservation>();
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if (ignoreCollider == null)
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return true;
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return !ignoreCollider.enabled;})
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.Distinct()
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.ToArray();
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if (_rigidBodyJoints.Length > 0)
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{
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_jointForTrackedColliders = _collidersToTrack
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.Select(x=>x.GetComponentsInParent<Rigidbody>().First())
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.Select(x=>x.gameObject)
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.ToArray();
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}
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else
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{
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_jointForTrackedColliders = _collidersToTrack
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.Select(x=>x.GetComponentsInParent<ArticulationBody>().First())
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.Select(x=>x.gameObject)
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.ToArray();
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}
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Positions = Enumerable.Range(0, _collidersToTrack.Length).Select(x=>Vector3.zero).ToArray();
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Rotations = Enumerable.Range(0, _collidersToTrack.Length).Select(x=>Quaternion.identity).ToArray();
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Velocities = Enumerable.Range(0, _collidersToTrack.Length).Select(x=>Vector3.zero).ToArray();
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AngualrVelocities = Enumerable.Range(0, _collidersToTrack.Length).Select(x=>Vector3.zero).ToArray();
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LastLocalPositions = Enumerable.Range(0, _collidersToTrack.Length).Select(x=>Vector3.zero).ToArray();
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LastLocalRotations = Enumerable.Range(0, _collidersToTrack.Length).Select(x=>Quaternion.identity).ToArray();
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int dof = 0;
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foreach (var m in _articulationBodyJoints)
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{
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if (m.twistLock == ArticulationDofLock.LimitedMotion)
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dof++;
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if (m.swingYLock == ArticulationDofLock.LimitedMotion)
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dof++;
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if (m.swingZLock == ArticulationDofLock.LimitedMotion)
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dof++;
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}
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DofRotationWithinRangeOfMotion = Enumerable.Range(0, dof).Select(x=>0f).ToArray();
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DofAngularVelocity = Enumerable.Range(0, dof).Select(x=>0f).ToArray();
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DofRotationInRad = Enumerable.Range(0, dof).Select(x=>0f).ToArray();
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DofLastRotationInRad = Enumerable.Range(0, dof).Select(x=>0f).ToArray();
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if (_root == null)
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{
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Debug.Log("in game object: " + name + "my rootname is: " + articulationBodyRoot.name);
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if (_rigidBodyJoints.Length > 0)
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_root = _rigidBodyJoints.First(x => x.name == articulationBodyRoot.name).gameObject;
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else
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_root = articulationBodyRoot.gameObject;
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}
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transform.position = defaultTransform.position;
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transform.rotation = defaultTransform.rotation;
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LastIsSet = false;
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}
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public void OnStep(float timeDelta)
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{
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// get Center Of Mass velocity in f space
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Vector3 newCOM;
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// if Moocap, then get from anim2Ragdoll
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if (_mapAnim2Ragdoll != null)
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{
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newCOM = _mapAnim2Ragdoll.LastCenterOfMassInWorldSpace;
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var newHorizontalDirection = _mapAnim2Ragdoll.HorizontalDirection;
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HorizontalDirection = newHorizontalDirection / 180f;
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if (!LastIsSet)
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{
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LastCenterOfMassInWorldSpace = newCOM;
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}
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transform.position = newCOM;
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transform.rotation = Quaternion.Euler(newHorizontalDirection);
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CenterOfMassVelocity = _mapAnim2Ragdoll.CenterOfMassVelocity;
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CenterOfMassVelocityMagnitude = _mapAnim2Ragdoll.CenterOfMassVelocityMagnitude;
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CenterOfMassVelocityInRootSpace = transform.InverseTransformVector(CenterOfMassVelocity);
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CenterOfMassVelocityMagnitudeInRootSpace = CenterOfMassVelocityInRootSpace.magnitude;
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}
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else
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{
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newCOM = GetCenterOfMass();
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var newHorizontalDirection = new Vector3(0f, _root.transform.eulerAngles.y, 0f);
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HorizontalDirection = newHorizontalDirection / 180f;
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if (!LastIsSet)
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{
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LastCenterOfMassInWorldSpace = newCOM;
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}
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transform.position = newCOM;
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transform.rotation = Quaternion.Euler(newHorizontalDirection);
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var velocity = newCOM - LastCenterOfMassInWorldSpace;
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velocity /= timeDelta;
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CenterOfMassVelocity = velocity;
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CenterOfMassVelocityMagnitude = CenterOfMassVelocity.magnitude;
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CenterOfMassVelocityInRootSpace = transform.InverseTransformVector(CenterOfMassVelocity);
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CenterOfMassVelocityMagnitudeInRootSpace = CenterOfMassVelocityInRootSpace.magnitude;
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}
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LastCenterOfMassInWorldSpace = newCOM;
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// get Center Of Mass horizontal velocity in f space
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var comHorizontalDirection = new Vector3(CenterOfMassVelocity.x, 0f, CenterOfMassVelocity.z);
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CenterOfMassHorizontalVelocity = transform.InverseTransformVector(comHorizontalDirection);
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CenterOfMassHorizontalVelocityMagnitude = CenterOfMassHorizontalVelocity.magnitude;
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// get Desired Center Of Mass horizontal velocity in f space
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Vector3 desiredCom = _animationController.GetDesiredVelocity();
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DesiredCenterOfMassVelocity = transform.InverseTransformVector(desiredCom);
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// get Desired Center Of Mass horizontal velocity in f space
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CenterOfMassVelocityDifference = DesiredCenterOfMassVelocity - CenterOfMassHorizontalVelocity;
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if (!LastIsSet)
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{
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LastRotation = transform.rotation;
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}
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AngualrVelocity = Utils.GetAngularVelocity(LastRotation, transform.rotation, timeDelta);
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LastRotation = transform.rotation;
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TrackUsingColliders(timeDelta);
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// TrackUsingJointsForTrackedColliders(timeDelta);
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TrackUsingDof(timeDelta);
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LastIsSet = true;
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}
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void TrackUsingJointsForTrackedColliders(float timeDelta)
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{
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// track in local space
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for (int i = 0; i < _jointForTrackedColliders.Length; i++)
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{
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Transform joint = _jointForTrackedColliders[i].transform;
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Vector3 worldPosition = joint.position;
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Quaternion worldRotation = transform.rotation;
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Vector3 localPosition = transform.InverseTransformPoint(worldPosition);
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Quaternion localRotation = Utils.FromToRotation(transform.rotation, worldRotation);
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if (!LastIsSet)
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{
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LastLocalPositions[i] = localPosition;
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LastLocalRotations[i] = localRotation;
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}
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Positions[i] = localPosition;
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Rotations[i] = localRotation;
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Velocities[i] = (localPosition - LastLocalPositions[i]) / timeDelta;
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AngualrVelocities[i] = Utils.GetAngularVelocity(LastLocalRotations[i], localRotation, timeDelta);
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LastLocalPositions[i] = localPosition;
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LastLocalRotations[i] = localRotation;
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}
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}
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void TrackUsingColliders(float timeDelta)
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{
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// track in local space
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for (int i = 0; i < _collidersToTrack.Length; i++)
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{
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Vector3 c = Vector3.zero;
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CapsuleCollider capsule = _collidersToTrack[i] as CapsuleCollider;
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BoxCollider box = _collidersToTrack[i] as BoxCollider;
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SphereCollider sphere = _collidersToTrack[i] as SphereCollider;
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Bounds b = new Bounds(c, c);
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if (capsule != null)
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{
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c = capsule.center;
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var r = capsule.radius * 2;
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var h = capsule.height;
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h = Mathf.Max(r, h); // capsules height is clipped at r
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if (capsule.direction == 0)
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b = new Bounds(c, new Vector3(h, r, r));
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else if (capsule.direction == 1)
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b = new Bounds(c, new Vector3(r, h, r));
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else if (capsule.direction == 2)
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b = new Bounds(c, new Vector3(r, r, h));
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else throw new NotImplementedException();
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}
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else if (box != null)
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{
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c = box.center;
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b = new Bounds(c, box.size);
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}
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else if (sphere != null)
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{
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c = sphere.center;
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var r = sphere.radius * 2;
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b = new Bounds(c, new Vector3(r, r, r));
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}
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else
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throw new NotImplementedException();
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Vector3 worldPosition = _collidersToTrack[i].transform.TransformPoint(c);
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Quaternion worldRotation = _collidersToTrack[i].transform.rotation;
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Vector3 localPosition = transform.InverseTransformPoint(worldPosition);
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Quaternion localRotation = Utils.FromToRotation(transform.rotation, worldRotation);
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if (!LastIsSet)
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{
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LastLocalPositions[i] = localPosition;
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LastLocalRotations[i] = localRotation;
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}
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Positions[i] = localPosition;
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Rotations[i] = localRotation;
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Velocities[i] = (localPosition - LastLocalPositions[i]) / timeDelta;
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AngualrVelocities[i] = Utils.GetAngularVelocity(LastLocalRotations[i], localRotation, timeDelta);
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LastLocalPositions[i] = localPosition;
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LastLocalRotations[i] = localRotation;
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}
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}
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void TrackUsingDof(float timeDelta)
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{
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// track in local space
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int i = 0;
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for (int j = 0; j < _jointForTrackedColliders.Length; j++)
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{
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var joint = _jointsToTrack[j];
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var reference = _articulationBodyJoints[j];
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Vector3 decomposedRotation = Utils.GetSwingTwist(joint.transform.localRotation);
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if (reference.twistLock == ArticulationDofLock.LimitedMotion)
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{
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var drive = reference.xDrive;
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var scale = (drive.upperLimit - drive.lowerLimit) / 2f;
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var midpoint = drive.lowerLimit + scale;
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var deg = decomposedRotation.x;
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var pos = (deg - midpoint) / scale;
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DofRotationInRad[i] = deg * Mathf.Deg2Rad;
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DofRotationWithinRangeOfMotion[i++] = pos;
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}
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if (reference.swingYLock == ArticulationDofLock.LimitedMotion)
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{
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var drive = reference.yDrive;
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var scale = (drive.upperLimit - drive.lowerLimit) / 2f;
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var midpoint = drive.lowerLimit + scale;
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var deg = decomposedRotation.y;
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var pos = (deg - midpoint) / scale;
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DofRotationInRad[i] = deg * Mathf.Deg2Rad;
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DofRotationWithinRangeOfMotion[i++] = pos;
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}
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if (reference.swingZLock == ArticulationDofLock.LimitedMotion)
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{
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var drive = reference.zDrive;
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var scale = (drive.upperLimit - drive.lowerLimit) / 2f;
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var midpoint = drive.lowerLimit + scale;
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var deg = decomposedRotation.z;
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var pos = (deg - midpoint) / scale;
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DofRotationInRad[i] = deg * Mathf.Deg2Rad;
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DofRotationWithinRangeOfMotion[i++] = pos;
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}
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}
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for (i = 0; i < DofRotationInRad.Length; i++)
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{
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if (!LastIsSet)
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{
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DofLastRotationInRad[i] = DofRotationInRad[i];
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}
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DofAngularVelocity[i] = DofRotationInRad[i] - DofLastRotationInRad[i];
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DofAngularVelocity[i] /= timeDelta;
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DofLastRotationInRad[i] = DofRotationInRad[i];
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|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
public void OnReset()
|
||
|
|
{
|
||
|
|
OnStep(float.Epsilon);
|
||
|
|
LastIsSet = false;
|
||
|
|
}
|
||
|
|
Vector3 GetCenterOfMass()
|
||
|
|
{
|
||
|
|
var centerOfMass = Vector3.zero;
|
||
|
|
float totalMass = 0f;
|
||
|
|
foreach (ArticulationBody ab in _articulationBodyJoints)
|
||
|
|
{
|
||
|
|
centerOfMass += ab.worldCenterOfMass * ab.mass;
|
||
|
|
totalMass += ab.mass;
|
||
|
|
}
|
||
|
|
centerOfMass /= totalMass;
|
||
|
|
// centerOfMass -= _spawnableEnv.transform.position;
|
||
|
|
return centerOfMass;
|
||
|
|
}
|
||
|
|
}
|