public RecordedTrajectoryPoint(RecordedTrajectoryPoint point)
{
position = new float3(point.position.x, point.position.y, point.position.z);
velocity = new float3(point.velocity.x, point.velocity.y, point.velocity.z);
orientation = new float3(point.orientation.x, point.orientation.y, point.orientation.z);
futureTime = point.futureTime;
}
public void Set(RecordedTrajectoryPoint point)
{
this.position = point.position;
this.velocity = point.velocity;
this.orientation = point.orientation;
this.futureTime = point.futureTime;
}
public static RecordedTrajectoryPoint Lerp(RecordedTrajectoryPoint point1, RecordedTrajectoryPoint point2, float factor)
{
float3 dir = math.lerp(point1.orientation, point2.orientation, factor);
if (dir.x != 0f && dir.y != 0f && dir.z != 0f)
{
dir = math.normalize(dir);
}
else
{
dir = point1.orientation;
}
return(new RecordedTrajectoryPoint(
math.lerp(point1.position, point2.position, factor),
math.lerp(point1.velocity, point2.velocity, factor),
dir,
math.lerp(point1.futureTime, point2.futureTime, factor)
));
}
public void RecordPastTimeTrajectory(
List <float> pointsTimes,
float updateTime,
float timeDeltaTime,
ref float recordTimer,
ref List <RecordedTrajectoryPoint> recordedTrajectory,
float3 objectPosition,
float3 objectForward
)
{
if (recordedTrajectory == null)
{
recordedTrajectory = new List <RecordedTrajectoryPoint>();
}
float maxRecordedTime = pointsTimes[0] - 0.05f;
if (maxRecordedTime >= 0)
{
return;
}
int goalPointIndex = 0;
RecordedTrajectoryPoint buffor;
for (int i = 0; i < recordedTrajectory.Count; i++)
{
if (pointsTimes[goalPointIndex] < 0)
{
if (recordedTrajectory[i].futureTime >= pointsTimes[goalPointIndex])
{
if (i == 0)
{
this.SetPoint(
recordedTrajectory[i].position,
recordedTrajectory[i].velocity,
recordedTrajectory[i].orientation,
goalPointIndex
);
}
else
{
float factor =
(pointsTimes[goalPointIndex] - recordedTrajectory[i - 1].futureTime)
/
(recordedTrajectory[i].futureTime - recordedTrajectory[i - 1].futureTime);
RecordedTrajectoryPoint lerpedPoint = RecordedTrajectoryPoint.Lerp(recordedTrajectory[i - 1], recordedTrajectory[i], factor);
this.SetPoint(
lerpedPoint.position,
lerpedPoint.velocity,
lerpedPoint.orientation,
goalPointIndex
);
}
goalPointIndex++;
}
}
buffor = recordedTrajectory[i];
buffor.futureTime -= timeDeltaTime;
recordedTrajectory[i] = buffor;
if (recordedTrajectory[i].futureTime < maxRecordedTime)
{
recordedTrajectory.RemoveAt(i);
i--;
continue;
}
}
recordTimer += Time.deltaTime;
if (recordTimer < updateTime)
{
return;
}
float3 velocity;
if (recordedTrajectory.Count > 1)
{
velocity = (objectPosition - recordedTrajectory[recordedTrajectory.Count - 1].position) / recordTimer;
}
else
{
velocity = new float3(0, 0, 0);
}
recordTimer = 0f;
recordedTrajectory.Add(
new RecordedTrajectoryPoint(
objectPosition,
velocity,
objectForward,
0f
));
}
