Struct Binary

Memory-ready runtime asset that contains the animation library and supplementary information required by the Kinematica runtime.

Namespace: Unity.Kinematica

Syntax

public struct Binary

Remarks

Kinematica strictly distinguishes between the editor and runtime asset. The asset builder in the Unity editor generates the runtime asset from from the editor asset. Conceptionally both representations are identical. The runtime asset contains additional acceleration structures.

Properties

numCodeBooks

Returns the number of code books stored in the runtime asset.

Declaration

public int numCodeBooks { get; }

Property Value

Type	Description
Int32

numIntervals

Returns the number of intervals stored in the runtime asset.

Declaration

public int numIntervals { get; }

Property Value

Type	Description
Int32

numJoints

Returns the number of animation rig joints.

Declaration

public int numJoints { get; }

Property Value

Type	Description
Int32

numMarkers

Returns the number of markers stored in the runtime asset.

Declaration

public int numMarkers { get; }

Property Value

Type	Description
Int32

numPoses

Returns the number of individual animation poses stored in the runtime asset.

Declaration

public int numPoses { get; }

Property Value

Type	Description
Int32

numSegments

Returns the number of segments stored in the runtime asset.

Declaration

public int numSegments { get; }

Property Value

Type	Description
Int32

numTagLists

Returns the number of tag lists stored in the runtime asset.

Declaration

public int numTagLists { get; }

Property Value

Type	Description
Int32

numTags

Returns the number of tags stored in the runtime asset.

Declaration

public int numTags { get; }

Property Value

Type	Description
Int32

numTraits

Returns the number of traits stored in the runtime asset.

Declaration

public int numTraits { get; }

Property Value

Type	Description
Int32

SampleRate

Returns the sample rate as number of samples per second.

Declaration

public float SampleRate { get; }

Property Value

Type	Description
Single

TimeHorizon

Time horizon in seconds.

Declaration

public float TimeHorizon { get; }

Property Value

Type	Description
Single

Remarks

The time horizon is a glocal setting that is used for trajectory matching.

Methods

Advance(SamplingTime, Single)

Advances a sampling time by a certain amount of time.

Declaration

public DeltaSamplingTime Advance(SamplingTime samplingTime, float deltaTime)

Parameters

Type	Name	Description
SamplingTime	samplingTime	The reference time to advance from.
Single	deltaTime	The time increment to advance by in seconds.

Returns

Type	Description
DeltaSamplingTime	The resulting sampling time.

Remarks

This method advances a starting time by a certain amount of time.

It is valid to pass a negative delta time in order to step backward in time.

The resulting time can belong to a different segment if boundary clips have been configured for the segment that the initial time belongs to.

The resulting new sampling time will be clamped at segment boundaries if no boundary clips have been defined for the segment that the initial time belongs to.

Contains(ref Binary.TagList, Binary.TraitIndex)

Checks if a given trait belongs to a given trait list.

Declaration

public bool Contains(ref Binary.TagList tagList, Binary.TraitIndex traitIndex)

Parameters

Type	Name	Description
Binary.TagList	tagList	The tag list to check against.
Binary.TraitIndex	traitIndex	The trait to check for.

Returns

Type	Description
Boolean	True if the given trait belongs to the trait list, false otherwise.

Contains(Binary.TagListIndex, Binary.TraitIndex)

Checks if a given trait belongs to a given trait list.

Declaration

public bool Contains(Binary.TagListIndex tagListIndex, Binary.TraitIndex traitIndex)

Parameters

Type	Name	Description
Binary.TagListIndex	tagListIndex	The tag list to check against.
Binary.TraitIndex	traitIndex	The trait to check for.

Returns

Type	Description
Boolean	True if the given trait belongs to the trait list, false otherwise.

CreatePoseFragment(Binary.MetricIndex, SamplingTime)

Create a pose fragment from a sampling time.

Declaration

public Binary.PoseFragment CreatePoseFragment(Binary.MetricIndex metricIndex, SamplingTime samplingTime)

Parameters

Type	Name	Description
Binary.MetricIndex	metricIndex	The metric defining the pose fragment layout.
SamplingTime	samplingTime	The sampling time that the pose fragment should be created for.

Returns

Type	Description
Binary.PoseFragment	The resulting pose fragment.

CreateTrajectoryFragment(Binary.MetricIndex, MemoryArray<AffineTransform>)

Creates a trajectory fragment from sequence of root transforms.

Declaration

public Binary.TrajectoryFragment CreateTrajectoryFragment(Binary.MetricIndex metricIndex, MemoryArray<AffineTransform> trajectory)

Parameters

Type	Name	Description
Binary.MetricIndex	metricIndex	The metric defining the trajectory fragment layout.
MemoryArray<AffineTransform>	trajectory	Sequence of root transforms in character space.

Returns

Type	Description
Binary.TrajectoryFragment	The resulting trajectory fragment.

Remarks

The root transforms passed as argument are expected to be relative to the world origin, i.e. in character space.

CreateTrajectoryFragment(Binary.MetricIndex, SamplingTime)

Creates a trajectory fragment from a sampling time.

Declaration

public Binary.TrajectoryFragment CreateTrajectoryFragment(Binary.MetricIndex metricIndex, SamplingTime samplingTime)

Parameters

Type	Name	Description
Binary.MetricIndex	metricIndex	The metric defining the trajectory fragment layout.
SamplingTime	samplingTime	The sampling time that the trajectory fragment should be created for.

Returns

Type	Description
Binary.TrajectoryFragment	The resulting trajectory fragment.

DebugDrawPoseWorldSpace(AffineTransform, Int32, Color)

Debug visualization for animation poses.

Declaration

public void DebugDrawPoseWorldSpace(AffineTransform rootTransform, int poseIndex, Color color)

Parameters

Type	Name	Description
AffineTransform	rootTransform	A world space transform that determines the position and orientation of the animation pose.
Int32	poseIndex	The pose index for which the root transform is to be retrieved.
Color	color	The color that the pose should be drawn with.

DebugDrawPoseWorldSpace(AffineTransform, Single, Color)

Debug visualization for animation poses.

Declaration

public void DebugDrawPoseWorldSpace(AffineTransform rootTransform, float sampleTimeInSeconds, Color color)

Parameters

Type	Name	Description
AffineTransform	rootTransform	A world space transform that determines the position and orientation of the animation pose.
Single	sampleTimeInSeconds	A time in seconds that determines the animation pose.
Color	color	The color that the pose should be drawn with.

DebugDrawPoseWorldSpace(AffineTransform, SamplingTime, Color)

Debug visualization for animation poses.

Declaration

public void DebugDrawPoseWorldSpace(AffineTransform rootTransform, SamplingTime samplingTime, Color color)

Parameters

Type	Name	Description
AffineTransform	rootTransform	A world space transform that determines the position and orientation of the animation pose.
SamplingTime	samplingTime	A sampling time that determines the animation pose.
Color	color	The color that the pose should be drawn with.

DebugDrawTrajectory(AffineTransform, Int32, Int32, Color)

Debug visualization for trajectories.

Declaration

public void DebugDrawTrajectory(AffineTransform referenceTransform, int poseIndex, int numFrames, Color color)

Parameters

Type	Name	Description
AffineTransform	referenceTransform	A world space transform that determines the anchor that is to be used for the trajectory visualization.
Int32	poseIndex	A pose index that determines where the trajectory should start.
Int32	numFrames	A duration in frames that determines the length of the trajectory.
Color	color	The color that the trajectory should be drawn with.

DebugDrawTrajectory(AffineTransform, Single, Single, Color)

Debug visualization for trajectories.

Declaration

public AffineTransform DebugDrawTrajectory(AffineTransform referenceTransform, float sampleTimeInSeconds, float duration, Color color)

Parameters

Type	Name	Description
AffineTransform	referenceTransform	A world space transform that determines the anchor that is to be used for the trajectory visualization.
Single	sampleTimeInSeconds	A time in seconds that determines where the trajectory should start.
Single	duration	A duration in seconds that determines the length of the trajectory.
Color	color	The color that the trajectory should be drawn with.

Returns

Type	Description
AffineTransform

DebugDrawTrajectory(AffineTransform, SamplingTime, Single, Color)

Debug visualization for trajectories.

Declaration

public void DebugDrawTrajectory(AffineTransform anchorTransform, SamplingTime samplingTime, float timeHorizon, Color color)

Parameters

Type	Name	Description
AffineTransform	anchorTransform	A world space transform that determines the anchor that is to be used for the trajectory visualization.
SamplingTime	samplingTime	A sampling time that determines where the trajectory should start.
Single	timeHorizon	A duration in seconds that determines the length of the trajectory.
Color	color	The color that the trajectory should be drawn with.

DebugDrawTransform(AffineTransform, Single, Single)

Debug visualization for transforms, i.e. a position and rotation.

Declaration

public static void DebugDrawTransform(AffineTransform transform, float scale, float alpha = 1F)

Parameters

Type	Name	Description
AffineTransform	transform	The transforms that should be displayed.
Single	scale	A scale that determines the length of the rotation axis of the transform.
Single	alpha	An color alpha value that is to be used for the rotation axis display.

GetCodeBook(Binary.CodeBookIndex)

Retrieves a reference to a codebook stored in the runtime asset.

Declaration

public Binary.CodeBook GetCodeBook(Binary.CodeBookIndex index)

Parameters

Type	Name	Description
Binary.CodeBookIndex	index	The codebook index to retrieve the reference for.

Returns

Type	Description
Binary.CodeBook	Codebook reference that corresponds to the index passed as argument.

GetCodeBookAt(TimeIndex)

Returns a codebook index for a time index.

Declaration

public Binary.CodeBookIndex GetCodeBookAt(TimeIndex timeIndex)

Parameters

Type	Name	Description
TimeIndex	timeIndex	The time index for which the codebook index should be retrieved.

Returns

Type	Description
Binary.CodeBookIndex	Codebook index that corresponds to the time index passed as argument.

Remarks

Tags define whether or not pose and trajectory fragments should be created for the animation frames they span. Given a time index this method performs a lookup to determine which codebook this time belongs to. This in turn gives access to the fragments that correspond to the time index.

GetCodeBookFragmentIndex(ref Binary.CodeBook, TimeIndex)

Retrieve fragment index inside codebook that is associated to a time index

Declaration

public int GetCodeBookFragmentIndex(ref Binary.CodeBook codeBook, TimeIndex timeIndex)

Parameters

Type	Name	Description
Binary.CodeBook	codeBook
TimeIndex	timeIndex

Returns

Type	Description
Int32	Returns -1 if the time index isn't covered by the codebook

GetInterval(Binary.IntervalIndex)

Retrieves a reference to an interval stored in the runtime asset.

Declaration

public Binary.Interval GetInterval(Binary.IntervalIndex intervalIndex)

Parameters

Type	Name	Description
Binary.IntervalIndex	intervalIndex	The interval index to retrieve the reference for.

Returns

Type	Description
Binary.Interval	Interval reference that corresponds to the index passed as argument.

GetMarker(Binary.MarkerIndex)

Retrieves a reference to a marker stored in the runtime asset.

Declaration

public Binary.Marker GetMarker(Binary.MarkerIndex index)

Parameters

Type	Name	Description
Binary.MarkerIndex	index	The marker index to retrieve the reference for.

Returns

Type	Description
Binary.Marker	Marker reference that corresponds to the index passed as argument.

GetPayload<T>(Int32)

Retrieves a reference to a payload stored in the runtime asset.

Declaration

public T GetPayload<T>(int payload)
    where T : struct

Parameters

Type	Name	Description
Int32	payload	Identifies the payload that should be retrieved.

Returns

Type	Description
T	Reference to the payload that corresponds to the index passed as argument.

Type Parameters

Name	Description
T

GetPayload<T>(Binary.TraitIndex)

Retrieves the associated payload (i.e. the instance of the user-defined value) for a given trait index.

Declaration

public T GetPayload<T>(Binary.TraitIndex traitIndex)
    where T : struct

Parameters

Type	Name	Description
Binary.TraitIndex	traitIndex	The trait index for which the corresponding payload is to be retrieved.

Returns

Type	Description
T	Reference to the user-defined value that corresponds to the trait index passed as argument.

Type Parameters

Name	Description
T

GetSegment(Binary.SegmentIndex)

Retrieves a reference to a segment stored in the runtime asset.

Declaration

public Binary.Segment GetSegment(Binary.SegmentIndex index)

Parameters

Type	Name	Description
Binary.SegmentIndex	index	The segment index to retrieve the reference for.

Returns

Type	Description
Binary.Segment	Segment reference that corresponds to the index passed as argument.

GetString(Int32)

Retrieves a string that corresponds to the index passed as argument.

Declaration

public string GetString(int index)

Parameters

Type	Name	Description
Int32	index	Index that identifies the string to be retrieved.

Returns

Type	Description
String	A string that corresponds to the contents identified by the index passed as argument.

GetTag(Binary.TagIndex)

Retrieves a reference to a tag stored in the runtime asset.

Declaration

public Binary.Tag GetTag(Binary.TagIndex tagIndex)

Parameters

Type	Name	Description
Binary.TagIndex	tagIndex	The tag index to retrieve the reference for.

Returns

Type	Description
Binary.Tag	Tag reference that corresponds to the index passed as argument.

GetTagIndex(ref Binary.TagList, Int32)

Returns the tag index from the tag list at given index

Declaration

public Binary.TagIndex GetTagIndex(ref Binary.TagList tagList, int index)

Parameters

Type	Name	Description
Binary.TagList	tagList	List of tag indices
Int32	index	Index of tag index in the list

Returns

Type	Description
Binary.TagIndex

GetTagList(Binary.TagListIndex)

Retrieves a tag list given a tag list index from the runtime asset.

Declaration

public Binary.TagList GetTagList(Binary.TagListIndex tagListIndex)

Parameters

Type	Name	Description
Binary.TagListIndex	tagListIndex	The tag list index.

Returns

Type	Description
Binary.TagList	Reference to the corresponding tag list for the index passed as argument.

GetTrait(Binary.TraitIndex)

Retrieves a reference to a trait stored in the runtime asset.

Declaration

public Binary.Trait GetTrait(Binary.TraitIndex traitIndex)

Parameters

Type	Name	Description
Binary.TraitIndex	traitIndex	The trait index to retrieve the reference for.

Returns

Type	Description
Binary.Trait	Trait reference that corresponds to the index passed as argument.

GetTraitIndex<T>(T)

Converts a value to a trait index.

Declaration

public Binary.TraitIndex GetTraitIndex<T>(T value)
    where T : struct

Parameters

Type	Name	Description
T	value	The value to be converted to a trait index.

Returns

Type	Description
Binary.TraitIndex	The trait index that corresponds to the value passed as argument.

Type Parameters

Name	Description
T

Remarks

var traitIndex =
    binary.GetTraitIndex(
        Climbing.Create(Climbing.Type.Wall));

GetTrajectoryTransform(Int32)

Retrieves the root transform for an animation frame.

Declaration

public AffineTransform GetTrajectoryTransform(int poseIndex)

Parameters

Type	Name	Description
Int32	poseIndex	The pose index for which the root transform is to be retrieved.

Returns

Type	Description
AffineTransform	The root transform that corresponds to the pose index passed as argument.

GetTrajectoryTransform(Single)

Retrieves the root transform for a sample time in seconds.

Declaration

public AffineTransform GetTrajectoryTransform(float sampleTimeInSeconds)

Parameters

Type	Name	Description
Single	sampleTimeInSeconds	The sample time in seconds for which the root transform is to be retrieved.

Returns

Type	Description
AffineTransform	The root transform that corresponds to the sample time passed as argument.

GetTrajectoryTransform(DeltaSamplingTime)

Retrieves the root transform displacement for a delta sampling time.

Declaration

public AffineTransform GetTrajectoryTransform(DeltaSamplingTime deltaTime)

Parameters

Type	Name	Description
DeltaSamplingTime	deltaTime	The delta time for which the root transform is to be retrieved.

Returns

Type	Description
AffineTransform	The root transform that corresponds to the delta sampling time passed as argument.

GetTrajectoryTransform(SamplingTime)

Retrieves the root transform for a sampling time.

Declaration

public AffineTransform GetTrajectoryTransform(SamplingTime samplingTime)

Parameters

Type	Name	Description
SamplingTime	samplingTime	The sampling time for which the root transform is to be retrieved.

Returns

Type	Description
AffineTransform	The root transform that corresponds to the sampling time passed as argument.

GetTrajectoryTransformBetween(Int32, Int32)

Calculates the relative root transform displacement between a frame and an offset.

Declaration

public AffineTransform GetTrajectoryTransformBetween(int poseIndex, int offset)

Parameters

Type	Name	Description
Int32	poseIndex	The reference frame for which the relative root transform should be calculated.
Int32	offset	An offset in frames that determines the number of frames that the relative root transform should span.

Returns

Type	Description
AffineTransform	The relative root transform between a reference and offset frame passed as argument.

GetTrajectoryTransformBetween(SamplingTime, Single)

Calculates the relative root transform between a sampling time and a delta time in seconds.

Declaration

public AffineTransform GetTrajectoryTransformBetween(SamplingTime samplingTime, float deltaTime)

Parameters

Type	Name	Description
SamplingTime	samplingTime	The reference sampling time for which the relative root transform should be calculated.
Single	deltaTime	An delta time in seconds that determines the duration that the relative root transform should span.

Returns

Type	Description
AffineTransform	The relative root transform between a sampling time and a delta time in seconds passed as argument.

GetTypeIndex<T>()

Converts the generic type into a type index.

Declaration

public Binary.TypeIndex GetTypeIndex<T>()
    where T : struct

Returns

Type	Description
Binary.TypeIndex	The type index that corresponds to the generic type.

Type Parameters

Name	Description
T

Remarks

Given a type passed as generic argument, this method performs a lookup in the types stored in the runtime asset and returns the corresponding type index. This index can then be used to extract reflection information for the given type. The returned type index will be invalid if the generic type passed as argument can not be found in the runtime asset.

IndexToTimeInSeconds(Int32)

Converts a frame index to the corresponding time in seconds.

Declaration

public float IndexToTimeInSeconds(int index)

Parameters

Type	Name	Description
Int32	index	Frame index to be converted into a time in seconds.

Returns

Type	Description
Single	Time in seconds that corresponds to the frame index passed as argument.

IsPayload<T>(ref T, Int32)

Determines whether the specified trait value matches a payload stored in the runtime asset.

Declaration

public bool IsPayload<T>(ref T value, int payload)
    where T : struct

Parameters

Type	Name	Description
T	value	Trait value to check the payload against.
Int32	payload	Payload index to check the trait for.

Returns

Type	Description
Boolean	True if the trait value matches the payload store in the runtime asset; false otherwise.

Type Parameters

Name	Description
T

IsType(Binary.MarkerIndex, Binary.TypeIndex)

Determines whether the specified marker is an instance of the type passed as argument.

Declaration

public bool IsType(Binary.MarkerIndex markerIndex, Binary.TypeIndex typeIndex)

Parameters

Type	Name	Description
Binary.MarkerIndex	markerIndex	The marker to compare with the type.
Binary.TypeIndex	typeIndex	The type to compare the marker for.

Returns

Type	Description
Boolean	True if the marker is of the specified type; false otherwise.

IsValid(SamplingTime)

Determines if a given sampling time is valid.

Declaration

public bool IsValid(SamplingTime samplingTime)

Parameters

Type	Name	Description
SamplingTime	samplingTime	The sampling time to be checked.

Returns

Type	Description
Boolean	True if the specified sampling time is valid; otherwise, false.

IsValid(TimeIndex)

Determines if a given time index is valid.

Declaration

public bool IsValid(TimeIndex timeIndex)

Parameters

Type	Name	Description
TimeIndex	timeIndex	The time index to be checked.

Returns

Type	Description
Boolean	True if the specified time index is valid; otherwise, false.

ReconstructPoseFragment(SamplingTime)

Reconstructs a pose fragment from the runtime asset that corresponds to a sampling time.

Declaration

public Binary.PoseFragment ReconstructPoseFragment(SamplingTime samplingTime)

Parameters

Type	Name	Description
SamplingTime	samplingTime	The sampling time from which the pose fragment should be reconstructed.

Returns

Type	Description
Binary.PoseFragment	The resulting pose fragment.

Remarks

The runtime asset building process generates pose fragments for any segment for which a metric has been defined. These pose fragments are stored inside the runtime asset in a compressed format.

Pose fragments can either be constructed from scratch or can be reconstructed from the information contained in the runtime asset. Reconstruction is faster than creating a pose fragment but is subject to loss of precision.

ReconstructTrajectoryFragment(SamplingTime)

Reconstructs a trajectory fragment for a given sampling time in the runtime asset.

Declaration

public Binary.TrajectoryFragment ReconstructTrajectoryFragment(SamplingTime samplingTime)

Parameters

Type	Name	Description
SamplingTime	samplingTime	The sampling time from which the trajectory fragment should be reconstructed.

Returns

Type	Description
Binary.TrajectoryFragment	The resulting trajectory fragment.

Remarks

The runtime asset building process generates trajectory fragments for any segment for which a metric has been defined. These trajectory fragments are stored inside the runtime asset in a compressed format.

Trajectory fragments can either be constructed from scratch or can be reconstructed from the information contained in the runtime asset. Reconstruction is faster than creating a trajectory fragment but is subject to loss of precision.

TimeInSecondsToIndex(Single)

Converts a time in seconds to an index.

Declaration

public int TimeInSecondsToIndex(float timeInSeconds)

Parameters

Type	Name	Description
Single	timeInSeconds	Time in seconds to be converted into an index.

Returns

Type	Description
Int32	Frame index that corresponds to the time in seconds passed as argument.

Struct Binary

Namespace: Unity.Kinematica

Syntax

Remarks

Properties

numCodeBooks

Declaration

Property Value

See Also

numIntervals

Declaration

Property Value

See Also

numJoints

Declaration

Property Value

numMarkers

Declaration

Property Value

See Also

numPoses

Declaration

Property Value

numSegments

Declaration

Property Value

See Also

numTagLists

Declaration

Property Value

See Also

numTags

Declaration

Property Value

See Also

numTraits

Declaration

Property Value

See Also

SampleRate

Declaration

Property Value

TimeHorizon

Declaration

Property Value

Remarks

See Also

Methods

Advance(SamplingTime, Single)

Declaration

Parameters

Returns

Remarks

Contains(ref Binary.TagList, Binary.TraitIndex)

Declaration

Parameters

Returns

Contains(Binary.TagListIndex, Binary.TraitIndex)

Declaration

Parameters

Returns

CreatePoseFragment(Binary.MetricIndex, SamplingTime)

Declaration

Parameters

Returns

CreateTrajectoryFragment(Binary.MetricIndex, MemoryArray<AffineTransform>)

Declaration

Parameters

Returns

Remarks

CreateTrajectoryFragment(Binary.MetricIndex, SamplingTime)

Declaration

Parameters

Returns

DebugDrawPoseWorldSpace(AffineTransform, Int32, Color)

Declaration

Parameters

DebugDrawPoseWorldSpace(AffineTransform, Single, Color)

Declaration

Parameters