/// <summary>
/// Gets both the position and the first derivative of position
/// at time ti. The time is clamped within the t0 - t1 range.
/// </summary>
public void PositionAndVelAt(float t, out __CHS_T__ position, out __CHS_T__ velocity)
{
float C00 = t1 - t0;
float C1 = 1.0f / C00;
float i, i2, i3;
float i_, i2_, i3_;
{
i = Mathf.Clamp01((t - t0) * C1);
i_ = C1;
i2 = i * i;
i2_ = 2 * i * i_;
i3 = i2 * i;
i3_ = i2_ * i + i_ * i2;
}
__CHS_T__ h00 = (2 * i3 - 3 * i2 + 1) * pos0;
__CHS_T__ h00_ = (i3_ * 2 - i2_ * 3) * pos0;
__CHS_T__ h10 = (i3 - 2 * i2 + i) * C00 * vel0;
__CHS_T__ h10_ = (i3_ - 2 * i2_ + i_) * C00 * vel0;
__CHS_T__ h01 = (3 * i2 - 2 * i3) * pos1;
__CHS_T__ h01_ = (i2_ * 3 - 2 * i3_) * pos1;
__CHS_T__ h11 = (i3 - i2) * C00 * vel1;
__CHS_T__ h11_ = (i3_ - i2_) * C00 * vel1;
position = h00 + h01 + h10 + h11;
velocity = h00_ + h01_ + h10_ + h11_;
}
/// <summary>
/// Constructs a spline by specifying the positions,
/// velocities, and times of the endpoints.
/// </summary>
public __CHS__(float t0, float t1, __CHS_T__ pos0, __CHS_T__ pos1, __CHS_T__ vel0, __CHS_T__ vel1)
{
this.t0 = t0;
this.t1 = t1;
this.vel0 = vel0;
this.vel1 = vel1;
this.pos0 = pos0;
this.pos1 = pos1;
}
/// <summary>
/// Constructs a spline by specifying the positions and
/// velocities of the two endpoints. The time range of
/// the spline is 0 to length.
/// </summary>
public __CHS__(__CHS_T__ pos0, __CHS_T__ pos1, __CHS_T__ vel0, __CHS_T__ vel1, float length)
{
t0 = 0;
t1 = length;
this.vel0 = vel0;
this.vel1 = vel1;
this.pos0 = pos0;
this.pos1 = pos1;
}
/// <summary>
/// Constructs a spline by specifying the positions and
/// velocities of the two endpoints. The time range of
/// the spline is 0 to 1.
/// </summary>
public __CHS__(__CHS_T__ pos0, __CHS_T__ pos1, __CHS_T__ vel0, __CHS_T__ vel1)
{
t0 = 0;
t1 = 1;
this.vel0 = vel0;
this.vel1 = vel1;
this.pos0 = pos0;
this.pos1 = pos1;
}
/// <summary>
/// Constructs a spline by specifying the positions of the
/// two endpoints. The velocity at each endpoint is zero,
/// and the time range of the spline is 0 to 1.
/// </summary>
public __CHS__(__CHS_T__ pos0, __CHS_T__ pos1)
{
t0 = 0;
t1 = 1;
vel0 = default(__CHS_T__);
vel1 = default(__CHS_T__);
this.pos0 = pos0;
this.pos1 = pos1;
}
/// <summary>
/// Gets the position at time t along this spline.
/// The time is clamped within the t0 - t1 range.
/// </summary>
public __CHS_T__ PositionAt(float t)
{
float i = Mathf.Clamp01((t - t0) / (t1 - t0));
float i2 = i * i;
float i3 = i2 * i;
__CHS_T__ h00 = (2 * i3 - 3 * i2 + 1) * pos0;
__CHS_T__ h10 = (i3 - 2 * i2 + i) * (t1 - t0) * vel0;
__CHS_T__ h01 = (-2 * i3 + 3 * i2) * pos1;
__CHS_T__ h11 = (i3 - i2) * (t1 - t0) * vel1;
return(h00 + h10 + h01 + h11);
}
/// <summary>
/// Gets the first derivative of position at time t.
/// The time is clamped within the t0 - t1 range.
/// </summary>
public __CHS_T__ VelocityAt(float t)
{
float C00 = t1 - t0;
float C1 = 1.0f / C00;
float i, i2;
float i_, i2_, i3_;
{
i = Mathf.Clamp01((t - t0) * C1);
i_ = C1;
i2 = i * i;
i2_ = 2 * i * i_;
i3_ = i2_ * i + i_ * i2;
}
__CHS_T__ h00_ = (i3_ * 2 - i2_ * 3) * pos0;
__CHS_T__ h10_ = (i3_ - 2 * i2_ + i_) * C00 * vel0;
__CHS_T__ h01_ = (i2_ * 3 - 2 * i3_) * pos1;
__CHS_T__ h11_ = (i3_ - i2_) * C00 * vel1;
return(h00_ + h01_ + h10_ + h11_);
}
