UnityLocomotionMMU

Unity Locomotion MMU

Scope

The UnityLocomotionMMU is a basic MMU modelling walking behavior. The MMU uses global path planning in conjunction with local steering to generate collision-free walk motions. The MMU is based on an animation tree using motion capture data.

Overall Data

Property	Values
Name	UnityLocomotionMMU
ID	daimler.com:UnityLocomotionMMU/1.0
VendorDomain	daimler.com
Vendor	Daimler Buses
Author	Felix Gaisbauer
Short description	MMU models walking behavior based on an animation tree inside Unity.
Long description	MMU models walking behavior based on an animation tree inside Unity using the Mecanim animation system.
Programming Language	Unity,C#
Development Tools	Unity, Visual Studio 2017
Service dependencies	PathPlanningService
MMU dependencies (Motion types)	-
File dependencies	UnityLocomotionMMU (Asset bundle)
Application dependencies	requires Unity 2018.4 Adapter or newer
Additional Libraries	-
MotionType	Locomotion/Walk
Events	End, Abort
Basic MMU	yes
License	MIT

Functionalities

In the following an overview of the functionalities and parameters of the UnityLocomotionMMU are provided.

Parameters

Runtime Parameters

Name	Type	Required	Description
TargetID	MGeometryConstraint(ID)	yes	ID of the walk target.
UseTargetOrientation	bool	no	Defines whether the target orientation given by the TargetID object is used.
ReplanningTime	float	no	The time after which the MMU replans the current path.
Trajectory	MPathConstraint(ID)	no	Specifies an optional trajectory that is traversed by the LocomotionMMU.
Velocity	float	no	Specifies the max velocity of the avatar.
ForcePath	bool	no	Specifies if a straight line path should be used if no path can be found.

The most important parameter required by the MMU is the TargetID. This parameter defines the target location that should be reached. The parameter is an ID pointing to a respective MGeometryConstraint embedded in the instruction. Moreover, it can be specified whether the rotation given by the target object is used or not. By default, the rotation is ignored.

The MMU provides further parameters such as replanning time. The replanning time defines the time after which the MMU computes a new path. This parameters is especially suitable for dynamic environments. Additionaly, the MMU supports the definition of trajectores using the MPathConstraint class. It uses the 2D path specified within the constraint. Finally the MMU has further parameters for defining the walking velocity, as well as for enabling/disabling the optional transition modeling.

Scene Parameters

The MMU has no specific scene parameters.

Examples

MSceneObject target1 = new MSceneObject(....);


//Walk instruction to walk to a specific target
MInstruction walkInstruction = new MInstruction(System.Guid.NewGuid().ToString(), "Walking to target location","walk")
{
   Properties = new Dictionary<string,string>()
   {
      {"TargetID", target1.ID}
   }
};

MConstraint constraint = new MConstraint(System.Guid.NewGuid().ToString());
MGeometryConstraint targetConstraint = ....;
constraint.GeometryConstraint = targetConstraint;

//Walk instruction to walk to a specific target using an MGeometryConstraint
MInstruction walkInstruction = new MInstruction(System.Guid.NewGuid().ToString(), "Walking to target location","walk")
{
   Properties = new Dictionary<string,string>()
   {
      {"TargetID", constraint .ID}
   },
   Constraints = new List<MConstraint>()
   {
       constraint
   } 
};

Using trajectories

MConstraint constraint = new MConstraint(System.Guid.NewGuid().ToString());
MPathConstraint trajectory = new MPathConstraint(...);
constraint.PathConstraint = trajectory;

//Walk instruction to walk to a specific target
MInstruction walkInstruction = new MInstruction(System.Guid.NewGuid().ToString(), "Walking to target location","walk")
{
   Properties = new Dictionary<string,string>()
   {
      {"Trajectory", constraint.ID}
   },
   Constraints = new List<MConstraint>()
   {
       constraint
   } 
};

Known Issues

Technical Information

The UnityLocomotionMMU is realized within the Unity3D engine. In principle, the MMU uses the Unity Animator component and a humanoid avatar rig. The Animator contains multiple animations for walking motions. Moreover, an animation-tree is utilized to blend between the different motions. For steering the avatar through the scene, a global path planning is used in conjunction with local motion planning. In particular, the PathPlanningService is required to execute the MMU.

Licensing

Provided as basic MMU with MIT license.