Initial mirror of localai-org/motion-bricks.cpp@6fdb75e

d456972 verified about 2 months ago

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#pragma once

#include <motionbricks/motionbricks.h>

#include <array>
#include <cstdint>
#include <span>
#include <string>
#include <vector>

struct mb_model;
struct mb_motion;

namespace motionbricks::detail {

constexpr std::uint32_t g1_joint_count = 34U;
constexpr std::uint32_t boundary_frame_count = 4U;
constexpr std::uint32_t global_root_width = 5U;
constexpr std::uint32_t local_root_width = 4U;
constexpr std::uint32_t external_pose_width = 303U;
constexpr std::uint32_t internal_pose_width = 304U;
constexpr std::uint32_t local_motion_width = 413U;

struct encoded_frames {
    std::array<float, boundary_frame_count * global_root_width> global_root{};
    std::array<float, boundary_frame_count * local_root_width> local_root{};
    std::array<float, boundary_frame_count * external_pose_width> poses{};
};

/* Converts public root positions and local XYZW rotations into the exact raw
   sparse features used by the released demo. The last four input frames are
   used when a longer history is supplied. */
mb_status encode_context(const mb_model & model,
                         std::span<const float> root_xyz,
                         std::span<const float> local_rotation_xyzw,
                         std::uint64_t frames,
                         encoded_frames & output,
                         std::string & reason);

/* Encodes four already-global frames. Rotations are row-major 3x3 matrices;
   positions include the root and are in world space. */
mb_status encode_global_frames(std::span<const float> joint_positions,
                               std::span<const float> joint_rotations,
                               bool repeat_last_velocity,
                               encoded_frames & output,
                               std::string & reason);

float normalize_feature(const mb_model & model, float value, std::uint32_t dual_index);
float unnormalize_feature(const mb_model & model, float value, std::uint32_t dual_index);

/* Converts the decoder's normalized local representation to the public
   animation boundary. */
mb_status decode_motion(const mb_model & model,
                        std::span<const float> normalized_local_motion,
                        std::uint32_t frames,
                        float initial_x, float initial_z,
                        float initial_heading,
                        mb_motion & output,
                        std::string & reason);

} // namespace motionbricks::detail

	#pragma once

	#include <motionbricks/motionbricks.h>

	#include <array>
	#include <cstdint>
	#include <span>
	#include <string>
	#include <vector>

	struct mb_model;
	struct mb_motion;

	namespace motionbricks::detail {

	constexpr std::uint32_t g1_joint_count = 34U;
	constexpr std::uint32_t boundary_frame_count = 4U;
	constexpr std::uint32_t global_root_width = 5U;
	constexpr std::uint32_t local_root_width = 4U;
	constexpr std::uint32_t external_pose_width = 303U;
	constexpr std::uint32_t internal_pose_width = 304U;
	constexpr std::uint32_t local_motion_width = 413U;

	struct encoded_frames {
	std::array<float, boundary_frame_count * global_root_width> global_root{};
	std::array<float, boundary_frame_count * local_root_width> local_root{};
	std::array<float, boundary_frame_count * external_pose_width> poses{};
	};

	/* Converts public root positions and local XYZW rotations into the exact raw
	sparse features used by the released demo. The last four input frames are
	used when a longer history is supplied. */
	mb_status encode_context(const mb_model & model,
	std::span<const float> root_xyz,
	std::span<const float> local_rotation_xyzw,
	std::uint64_t frames,
	encoded_frames & output,
	std::string & reason);

	/* Encodes four already-global frames. Rotations are row-major 3x3 matrices;
	positions include the root and are in world space. */
	mb_status encode_global_frames(std::span<const float> joint_positions,
	std::span<const float> joint_rotations,
	bool repeat_last_velocity,
	encoded_frames & output,
	std::string & reason);

	float normalize_feature(const mb_model & model, float value, std::uint32_t dual_index);
	float unnormalize_feature(const mb_model & model, float value, std::uint32_t dual_index);

	/* Converts the decoder's normalized local representation to the public
	animation boundary. */
	mb_status decode_motion(const mb_model & model,
	std::span<const float> normalized_local_motion,
	std::uint32_t frames,
	float initial_x, float initial_z,
	float initial_heading,
	mb_motion & output,
	std::string & reason);

	} // namespace motionbricks::detail