Struct TrajectoryPrediction

Allows the generation of a desired future trajecory.

Namespace: Unity.Kinematica

Syntax

public struct TrajectoryPrediction

Remarks

Allows the generation of a desired future trajecory by predicting the future root movement over time subject to a number of characteristics.

var prediction = TrajectoryPrediction.Create(
    ref synthesizer, desiredVelocity, desiredRotation,
        trajectory, velocityPercentage, forwardPercentage);
prediction.Generate();

Properties

Advance

Generates the next root transform of the trajectory.

Declaration

public AffineTransform Advance { get; }

Property Value

Type	Description
AffineTransform

Remarks

The trajectory prediction generates samples along the trajectory which are subject to the time horizon and sample rate that are configured in the runtime asset.

The generated root transform can be modified before storing it in the trajectory buffer. A use case for this is for example collision detection and resolution.

See Also

TimeHorizon

SampleRate

Push(AffineTransform)

Transform

Allows to get and set the current root transform during the trajectory generate.

Declaration

public AffineTransform Transform { get; set; }

Property Value

Type	Description
AffineTransform

Methods

Create(ref MotionSynthesizer, float3, quaternion, MemoryArray<AffineTransform>, Single, Single)

Creates a trajectory prediction instance.

Declaration

public static TrajectoryPrediction Create(ref MotionSynthesizer synthesizer, float3 desiredLinearVelocity, quaternion desiredRotation, MemoryArray<AffineTransform> trajectory, float velocityFactor, float rotationFactor)

Parameters

Type	Name	Description
MotionSynthesizer	synthesizer	Reference to the motion synthesizer to generate the trajectory for.
float3	desiredLinearVelocity	Desired linear velocity in meters per second in character space.
quaternion	desiredRotation	Desired orientation in character space.
MemoryArray<AffineTransform>	trajectory	Memory array that the generated trajectory should be written to.
Single	velocityFactor	Factor that determines when the desired velocity w.r.t. the time horizon should be reached.
Single	rotationFactor	Factor that determines when the desired rotation w.r.t. the time horizon should be reached.

Returns

Type	Description
TrajectoryPrediction	The newly created trajectory prediction instance.

Generate()

Convenience method that generates the entire trajectory in a single call. It can be used instead of manually calling Advance() and Push() in case no root transform modification is required.

Declaration

public void Generate()

Push(AffineTransform)

Stores the root transform passed as argument as the next trajectory element in the internal buffer. This method can be used in conjunction with Advance().

Declaration

public bool Push(AffineTransform transform)

Parameters

Type	Name	Description
AffineTransform	transform	Root transform to be stored in the trajectory buffer.

Returns

Type	Description
Boolean

See Also

TrajectoryPredictionTask