SplineNode AddClonedNode(SplineNode node)
{
int index = spline.nodes.IndexOf(node);
SplineNode res = new SplineNode(node.Position, node.Direction);
if (index == spline.nodes.Count - 1)
{
spline.AddNode(res);
}
else
{
spline.InsertNode(index + 1, res);
}
return(res);
}
private void UpdateSpline()
{
foreach (var penisNode in wayPoints.ToList())
{
if (penisNode == null)
{
wayPoints.Remove(penisNode);
}
}
int nodeCount = wayPoints.Count;
// adjust the number of nodes in the spline.
while (spline.nodes.Count < nodeCount)
{
spline.AddNode(new SplineNode(Vector3.zero, Vector3.zero));
}
while (spline.nodes.Count > nodeCount && spline.nodes.Count > 2)
{
spline.RemoveNode(spline.nodes.Last());
}
}
public void visualizeDeformation(string frameName, jointDispl specialPointsJointDispl)
{
Frame targetFrame = myConstructorController.findFrame(frameName);
targetFrame.setReleaseNeither();
SplineMesh.Spline targetSpline = targetFrame.GetGameObject().GetComponentInChildren <SplineMesh.Spline>();
int numNodesPrevious = targetSpline.nodes.Count;
double frameScale = targetFrame.getTransform().lossyScale.y;
double frameLength = targetFrame.getLength();
double baseX = 0;
double baseY = 0;
double baseZ = 0;
Vector3 basePosition;
while (targetSpline.nodes.Count < specialPointsJointDispl.numberResults)
{
targetSpline.AddNode(new SplineMesh.SplineNode(Vector3.zero, Vector3.zero));
}
int maxIndex = specialPointsJointDispl.numberResults - 1;
for (int i = 0; i <= maxIndex; i++)
{
double u1 = specialPointsJointDispl.u1[i]; // WAIT global unity x
double u2 = specialPointsJointDispl.u2[i]; // global unity z
double u3 = specialPointsJointDispl.u3[i]; // global unity y
double r1 = specialPointsJointDispl.r1[i];
double r2 = specialPointsJointDispl.r2[i];
double r3 = specialPointsJointDispl.r3[i];
baseY = (double)i / (double)maxIndex;
// Explanation for the following if-else-if block:
// If a special point is set exactly at the end of a frame in SAP,
// then that points will have a local coordinate system that may not align with every frame that ends on the point.
// As a stopgap fix, SAPTranslator currently places the "end" points slightly into the length of the frame (by 0.001 of the frame's length).
// This if-else block reflects that positioning in the VR visualization for accuracy.
// Currently, the VR environment does not show those last 0.1% of the frame on either end, when showing deformation,
// but that shouldn't be a problem just for a general visualization of the result.
// It's a problem that needs to be solved if one wishes to be able to click on endpoints specifically and see their exact displacements in VR, though.
if (baseY == 0)
{
baseY += 0.001;
}
else if (baseY == 1)
{
baseY -= 0.001;
}
Vector3 localBasePosition = new Vector3((float)baseX, (float)baseY, (float)baseZ);
Vector3 globalBasePosition = targetFrame.getTransform().TransformPoint(localBasePosition);
//float deltaX = (float)(u2 * visualizationScale);
//float deltaY = (float)((u1 / frameScale) * visualizationScale);
//float deltaZ = (float)(-1 * u3 * visualizationScale);
//Vector3 deltaPosition = new Vector3(deltaX, deltaY, deltaZ);
Vector3 globalDelta = new Vector3((float)(u1 * visualizationScale), (float)(u3 * visualizationScale), (float)(u2 * visualizationScale));
//Vector3 globalFinal = globalBasePosition + globalDelta;
//Vector3 localFinal = targetFrame.getTransform().InverseTransformPoint(globalFinal);
Vector3 localDelta = targetFrame.getTransform().InverseTransformVector(globalDelta);
localDelta.Set(localDelta.x, (float)(localDelta.y / 5.0), localDelta.z);
//Vector3 iDontKnowWhyThisIsNecessary = new Vector3(localDelta.z, localDelta.x, localDelta.y);
//localFinal.y = (float)(localFinal.y / frameScale);
Vector3 updatedNodePosition = localBasePosition + localDelta;
Vector3 updatedNodeDirection = new Vector3(updatedNodePosition.x, updatedNodePosition.y + (float)0.001, updatedNodePosition.z);
Vector3 updatedNodeUp = new Vector3(0, 0, -1);
//lookAt = Quaternion.Euler((float)(r3 / frameScale), (float)(r1), (float)(r2 / frameScale)) * lookAt;
//SplineMesh.SplineNode newSplineNode = new SplineMesh.SplineNode(nodePosition, lookAt);
targetSpline.nodes[i].Position = updatedNodePosition;
targetSpline.nodes[i].Direction = updatedNodeDirection;
targetSpline.nodes[i].Up = updatedNodeUp;
}
}