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Convert motion matching output to be framerate independent and remove…
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… fps lock
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@bnco-dev
bnco-dev committed Sep 19, 2024
1 parent bf7f807 commit cf4dfd8
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Showing 2 changed files with 89 additions and 36 deletions.
4 changes: 0 additions & 4 deletions Unity/Assets/Ubiq/Runtime/Avatars/MotionMatching/MMVR/Scripts/VRCharacterController.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -48,8 +48,6 @@ private void Start()

PositionHMD = new float3();
RotationHMD = new quaternion();

Application.targetFrameRate = Mathf.RoundToInt(1.0f / DatabaseDeltaTime);
}

protected override void OnUpdate()
Expand All @@ -58,8 +56,6 @@ protected override void OnUpdate()
float3 currentPos = GetCurrentHMDPosition();
quaternion currentRot = GetCurrentHMDRotation();

Debug.Log(HMDDevice.position);

// Input
float3 desiredVelocity = tracker.GetSmoothedVelocity();
float sqDesiredVelocity = math.lengthsq(desiredVelocity);
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121 changes: 89 additions & 32 deletions ...ssets/Ubiq/Runtime/Avatars/MotionMatching/MotionMatching/Core/MotionMatchingController.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,6 @@ public class MotionMatchingController : MonoBehaviour

public MotionMatchingCharacterController CharacterController;
public MotionMatchingData MMData;
public bool LockFPS = true;
public float SearchTime = 10.0f / 60.0f; // Motion Matching search every SearchTime seconds
public bool UseBVHSearch = true; // Use Bounding Volume Hierarchy acceleration structure for the search.
public bool Inertialize = true; // Should inertialize transitions after a big change of the pose
Expand Down Expand Up @@ -74,6 +73,7 @@ public class MotionMatchingController : MonoBehaviour
private float3 LeftLowerLegLocalForward, RightLowerLegLocalForward;
private int LeftToesIndex, LeftFootIndex, LeftLowerLegIndex, LeftUpperLegIndex;
private int RightToesIndex, RightFootIndex, RightLowerLegIndex, RightUpperLegIndex;
private PoseVector poseVector;

private void Awake()
{
Expand Down Expand Up @@ -103,17 +103,7 @@ private void Awake()
// FPS
DatabaseFrameTime = PoseSet.FrameTime;
DatabaseFrameRate = Mathf.RoundToInt(1.0f / DatabaseFrameTime);
if (LockFPS)
{
Application.targetFrameRate = DatabaseFrameRate;
Debug.Log("[Motion Matching] Updated Target FPS: " + Application.targetFrameRate);
}
else
{
Application.targetFrameRate = -1;
Debug.LogWarning("[Motion Matching] LockFPS is not set. Motion Matching will malfunction if the application frame rate is higher than the animation database.");
}


// Other initialization
SearchResult = new NativeArray<int>(1, Allocator.Persistent);
int numberFeatures = (MMData.TrajectoryFeatures.Count + MMData.PoseFeatures.Count);
Expand Down Expand Up @@ -226,22 +216,18 @@ private void OnCharacterControllerUpdated(float deltaTime)
// Advance
SearchTimeLeft -= deltaTime;
}
// Always advance one (bestFrame from motion matching is the best match to the current frame, but we want to move to the next frame)
// Ideally the applications runs at 1.0f/FrameTime fps (to match the database) however, as this may not happen, we may need to skip some frames
// from the database, e.g., if 1.0f/FrameTime = 60 and our game runes at 30, we need to advance 2 frames at each update
// However, as we are using Application.targetFrameRate=1.0f/FrameTime, we do not consider the case where the application runs faster than the database
CurrentFrameTime += DatabaseFrameRate * deltaTime; // DatabaseFrameRate / (1.0f / deltaTime)
CurrentFrame = (int)math.floor(CurrentFrameTime);

UpdateTransformAndSkeleton(CurrentFrame);
UpdateTransformAndSkeleton();
PROFILE.END_SAMPLE_PROFILING("Motion Matching Total");
}

private void UpdateAnimationSpaceOrigin()
{
PoseSet.GetPose(CurrentFrame, out PoseVector mmPose);
AnimationSpaceOriginPos = mmPose.JointLocalPositions[0];
InverseAnimationSpaceOriginRot = math.inverse(mmPose.JointLocalRotations[0]);
InterpolatePose(PoseSet,CurrentFrameTime, ref poseVector);
AnimationSpaceOriginPos = poseVector.JointLocalPositions[0];
InverseAnimationSpaceOriginRot = math.inverse(poseVector.JointLocalRotations[0]);
MMTransformOriginPose = SkeletonTransforms[0].position;
MMTransformOriginRot = SkeletonTransforms[0].rotation;
}
Expand All @@ -250,6 +236,79 @@ private void OnInputChangedQuickly()
{
SearchTimeLeft = 0; // Force search
}

/// <summary>
/// Interpolates a pose between the closest two indices.
/// </summary>
private static void InterpolatePose(PoseSet poseSet, float poseIndex,
ref PoseVector pose)
{
var indexFloor = Mathf.FloorToInt(poseIndex);
var indexCeil = Mathf.CeilToInt(poseIndex);
poseSet.GetPose(indexFloor, out var poseFloor);
poseSet.GetPose(indexCeil, out var poseCeil);
var t = poseIndex % 1;
if (poseIndex < 0)
{
// Correct so in range [0,1) where 0 is floor and 1 is ceil
t = (1 - (t * -1)) % 0;
}

if (pose.JointLocalPositions == null ||
pose.JointLocalPositions.Length != poseFloor.JointLocalPositions.Length)
{
pose.JointLocalPositions = new float3[poseFloor.JointLocalPositions.Length];
}
for (int i = 0; i < pose.JointLocalPositions.Length; i++)
{
pose.JointLocalPositions[i] = math.lerp(
poseFloor.JointLocalPositions[i],
poseCeil.JointLocalPositions[i],
t);
}

if (pose.JointLocalRotations == null ||
pose.JointLocalRotations.Length != poseFloor.JointLocalRotations.Length)
{
pose.JointLocalRotations = new quaternion[poseFloor.JointLocalRotations.Length];
}
for (int i = 0; i < pose.JointLocalRotations.Length; i++)
{
pose.JointLocalRotations[i] = math.slerp(
poseFloor.JointLocalRotations[i],
poseCeil.JointLocalRotations[i],
t);
}

if (pose.JointLocalVelocities == null ||
pose.JointLocalVelocities.Length != poseFloor.JointLocalVelocities.Length)
{
pose.JointLocalVelocities = new float3[poseFloor.JointLocalVelocities.Length];
}
for (int i = 0; i < pose.JointLocalVelocities.Length; i++)
{
pose.JointLocalVelocities[i] = math.lerp(
poseFloor.JointLocalVelocities[i],
poseCeil.JointLocalVelocities[i],
t);
}

if (pose.JointLocalAngularVelocities == null ||
pose.JointLocalAngularVelocities.Length != poseFloor.JointLocalAngularVelocities.Length)
{
pose.JointLocalAngularVelocities = new float3[poseFloor.JointLocalAngularVelocities.Length];
}
for (int i = 0; i < pose.JointLocalAngularVelocities.Length; i++)
{
pose.JointLocalAngularVelocities[i] = math.lerp(
poseFloor.JointLocalAngularVelocities[i],
poseCeil.JointLocalAngularVelocities[i],
t);
}

pose.LeftFootContact = poseFloor.LeftFootContact && poseCeil.LeftFootContact;
pose.RightFootContact = poseFloor.RightFootContact && poseCeil.RightFootContact;
}

private int SearchMotionMatching()
{
Expand Down Expand Up @@ -345,20 +404,20 @@ private void FillTrajectory(NativeArray<float> vector)
FeatureSet.NormalizeTrajectory(vector);
}

private void UpdateTransformAndSkeleton(int frameIndex)
private void UpdateTransformAndSkeleton()
{
PoseSet.GetPose(frameIndex, out PoseVector pose);
InterpolatePose(PoseSet,CurrentFrameTime, ref poseVector);
// Update Inertialize if enabled
if (Inertialize)
{
Inertialization.Update(pose, InertializeHalfLife, Time.deltaTime);
Inertialization.Update(poseVector, InertializeHalfLife, Time.deltaTime);
}
// Simulation Bone
float3 previousPosition = SkeletonTransforms[0].position;
quaternion previousRotation = SkeletonTransforms[0].rotation;
// animation space to local space
float3 localSpacePos = math.mul(InverseAnimationSpaceOriginRot, pose.JointLocalPositions[0] - AnimationSpaceOriginPos);
quaternion localSpaceRot = math.mul(InverseAnimationSpaceOriginRot, pose.JointLocalRotations[0]);
float3 localSpacePos = math.mul(InverseAnimationSpaceOriginRot, poseVector.JointLocalPositions[0] - AnimationSpaceOriginPos);
quaternion localSpaceRot = math.mul(InverseAnimationSpaceOriginRot, poseVector.JointLocalRotations[0]);
// local space to world space
SkeletonTransforms[0].position = math.mul(MMTransformOriginRot, localSpacePos) + MMTransformOriginPose;
SkeletonTransforms[0].rotation = math.mul(MMTransformOriginRot, localSpaceRot);
Expand All @@ -375,15 +434,15 @@ private void UpdateTransformAndSkeleton(int frameIndex)
}
else
{
for (int i = 1; i < pose.JointLocalRotations.Length; i++)
for (int i = 1; i < poseVector.JointLocalRotations.Length; i++)
{
SkeletonTransforms[i].localRotation = pose.JointLocalRotations[i];
SkeletonTransforms[i].localRotation = poseVector.JointLocalRotations[i];
}
}
// Hips Position
SkeletonTransforms[1].localPosition = Inertialize ? Inertialization.InertializedHips : pose.JointLocalPositions[1];
SkeletonTransforms[1].localPosition = Inertialize ? Inertialization.InertializedHips : poseVector.JointLocalPositions[1];
// Foot Lock
UpdateFootLock(pose);
UpdateFootLock(poseVector);
// Post processing the transforms
if (OnSkeletonTransformUpdated != null) OnSkeletonTransformUpdated.Invoke();
}
Expand Down Expand Up @@ -669,8 +728,6 @@ private void OnDrawGizmos()
// Character
if (PoseSet == null) return;

int currentFrame = CurrentFrame;
PoseSet.GetPose(currentFrame, out PoseVector pose);
float3 characterOrigin = SkeletonTransforms[0].position;
float3 characterForward = SkeletonTransforms[0].forward;
if (DebugCurrent)
Expand All @@ -695,7 +752,7 @@ private void OnDrawGizmos()
// Feature Set
if (FeatureSet == null) return;

FeatureDebug.DrawFeatureGizmos(FeatureSet, MMData, SpheresRadius, currentFrame, characterOrigin, characterForward,
FeatureDebug.DrawFeatureGizmos(FeatureSet, MMData, SpheresRadius, CurrentFrame, characterOrigin, characterForward,
SkeletonTransforms, PoseSet.Skeleton, DebugPose, DebugTrajectory);
}
#endif
Expand Down

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