| #pragma once |
|
|
| #include <motionbricks/motionbricks.h> |
|
|
| #include <array> |
| #include <cstdint> |
| #include <memory> |
| #include <string> |
| #include <vector> |
|
|
| namespace motionbricks::detail { |
| class neural_runtime; |
| } |
|
|
| struct mb_runtime_options { |
| mb_device device = MB_DEVICE_AUTO; |
| std::uint32_t threads = 0; |
| std::string backend_directory; |
| }; |
|
|
| struct mb_model { |
| std::string bundle_directory; |
| std::uint64_t parameter_count = 0; |
| std::vector<std::string> joint_names; |
| std::vector<std::int32_t> joint_parents; |
| std::vector<float> neutral_joints; |
| std::vector<float> motion_mean; |
| std::vector<float> motion_std; |
| std::shared_ptr<motionbricks::detail::neural_runtime> runtime; |
| }; |
|
|
| struct mb_style { |
| std::string name; |
| float speed = 0.0F; |
| std::uint32_t frames = 0; |
| std::vector<float> global_joint_positions; |
| std::vector<float> global_joint_rotations; |
| std::vector<float> global_root_positions; |
| std::vector<float> global_headings; |
| std::array<std::uint8_t, 11> allowed_tokens{}; |
| }; |
|
|
| struct mb_command { |
| const mb_style * style = nullptr; |
| std::array<float, 3> movement_direction{0.0F, 0.0F, 0.0F}; |
| std::array<float, 3> facing_direction{0.0F, 0.0F, 1.0F}; |
| float target_speed = -1.0F; |
| std::array<float, 3> world_target{0.0F, 0.0F, 0.0F}; |
| float world_target_heading = 0.0F; |
| std::uint32_t has_world_target = 0; |
| std::uint64_t seed = 0; |
| }; |
|
|
| struct mb_agent { |
| const mb_model * model = nullptr; |
| const mb_style * initial_style = nullptr; |
| std::vector<float> context_root_xyz; |
| std::vector<float> context_local_rotations_xyzw; |
| std::uint64_t context_frames = 0; |
| std::unique_ptr<mb_motion> current_motion; |
| std::uint32_t current_frame = 0; |
| }; |
|
|
| struct mb_motion { |
| std::uint64_t frames = 0; |
| std::uint64_t joints = 0; |
| std::vector<float> root_translations; |
| std::vector<float> local_rotations_xyzw; |
| std::uint64_t target_frames = 0; |
| std::vector<float> target_root_translations; |
| std::vector<float> target_local_rotations_xyzw; |
| }; |
|
|
