public override void TransportFrame(CurveFrame frame, CurveSection section, float sectionTwist)
{
if (frame != null)
{
frame.Transport(section, sectionTwist);
}
}
public void Set(CurveSection section)
{
normal = section.normal;
tangent = section.tangent;
binormal = Vector3.Cross(tangent, normal);
position = section.positionAndRadius;
}
public void Transport(CurveSection section, float twist)
{
// Calculate delta rotation:
Quaternion rotQ = Quaternion.FromToRotation(tangent, section.tangent);
Quaternion twistQ = Quaternion.AngleAxis(twist, section.tangent);
Quaternion finalQ = twistQ * rotQ;
// Rotate previous frame axes to obtain the new ones:
normal = finalQ * normal;
binormal = finalQ * binormal;
tangent = section.tangent;
position = section.positionAndRadius;
}
/**
* Generate a list of smooth curves using particles as control points. Will take into account cuts in the rope,
* generating one curve for each continuous piece of rope.
*/
public void SmoothCurvesFromParticles()
{
curves.Clear();
curveSections = 0;
curveLength = 0;
// count amount of segments in each rope chunk:
CountContinuousSegments();
ObiDistanceConstraintBatch distanceBatch = DistanceConstraints.GetFirstBatch();
Matrix4x4 w2l = transform.worldToLocalMatrix;
int firstSegment = 0;
// generate curve for each rope chunk:
for (int i = 0; i < rawCurves.Count; ++i)
{
int segments = rawCurves[i].Count - 1;
// allocate memory for the curve:
ObiList <CurveSection> controlPoints = rawCurves[i];
// get control points position:
for (int m = 0; m < segments; ++m)
{
int particleIndex = distanceBatch.springIndices[(firstSegment + m) * 2];
controlPoints[m] = new CurveSection(w2l.MultiplyPoint3x4(GetParticlePosition(particleIndex)),
solidRadii[particleIndex],
(this.colors != null && particleIndex < this.colors.Length) ? this.colors[particleIndex] : Color.white);
// last segment adds its second particle too:
if (m == segments - 1)
{
particleIndex = distanceBatch.springIndices[(firstSegment + m) * 2 + 1];
controlPoints[m + 1] = new CurveSection(w2l.MultiplyPoint3x4(GetParticlePosition(particleIndex)),
solidRadii[particleIndex],
(this.colors != null && particleIndex < this.colors.Length) ? this.colors[particleIndex] : Color.white);
}
}
firstSegment += segments;
// get smooth curve points:
ChaikinSmoothing(controlPoints, curves[i], smoothing);
// count total curve sections and total curve length:
curveSections += curves[i].Count - 1;
curveLength += CalculateCurveLength(curves[i]);
}
}
/**
* Generate a list of smooth curves using particles as control points. Will take into account cuts in the rope,
* generating one curve for each continuous piece of rope.
*/
public void SmoothCurvesFromParticles()
{
curves.Clear();
curveSections = 0;
curveLength = 0;
// count amount of segments in each rope chunk:
CountContinuousSegments();
Matrix4x4 w2l = transform.worldToLocalMatrix;
Quaternion matrixRotation = Quaternion.LookRotation(
w2l.GetColumn(2),
w2l.GetColumn(1));
int firstSegment = 0;
// generate curve for each rope chunk:
for (int i = 0; i < rawCurves.Count; ++i)
{
int segments = rawCurves[i].Count - 1;
// allocate memory for the curve:
ObiList <CurveSection> controlPoints = rawCurves[i];
// get control points position:
int lastParticle = -1;
int particle1 = -1, particle2 = -1;
for (int m = 0; m < segments; ++m)
{
if (GetStructuralConstraintParticles(firstSegment + m, ref particle1, ref particle2))
{
if (m == 0)
{
lastParticle = particle1;
}
// Find next and previous vectors:
Vector3 nextV = GetParticlePosition(particle2) - GetParticlePosition(particle1);
Vector3 prevV = GetParticlePosition(particle1) - GetParticlePosition(lastParticle);
Vector3 pos = w2l.MultiplyPoint3x4(GetParticlePosition(particle1));
Quaternion orient = matrixRotation * Quaternion.SlerpUnclamped(GetParticleOrientation(lastParticle), GetParticleOrientation(particle1), 0.5f);
Vector3 tangent = w2l.MultiplyVector(prevV + nextV).normalized;
Color color = (this.colors != null && particle1 < this.colors.Length) ? this.colors[particle1] : Color.white;
controlPoints[m] = new CurveSection(new Vector4(pos.x, pos.y, pos.z, principalRadii[particle1][0]), tangent, orient * Vector3.up, color);
lastParticle = particle1;
}
}
// last segment adds its second particle too:
if (segments > 0)
{
Vector3 pos = w2l.MultiplyPoint3x4(GetParticlePosition(particle2));
Quaternion orient = matrixRotation * GetParticleOrientation(particle1);
Vector3 tangent = w2l.MultiplyVector(GetParticlePosition(particle2) - GetParticlePosition(particle1)).normalized;
Color color = (this.colors != null && particle2 < this.colors.Length) ? this.colors[particle2] : Color.white;
controlPoints[segments] = new CurveSection(new Vector4(pos.x, pos.y, pos.z, principalRadii[particle2][0]), tangent, orient * Vector3.up, color);
}
firstSegment += segments;
// get smooth curve points:
ChaikinSmoothing(controlPoints, curves[i], smoothing);
// count total curve sections and total curve length:
curveSections += curves[i].Count - 1;
curveLength += CalculateCurveLength(curves[i]);
}
}
public abstract void TransportFrame(CurveFrame frame, CurveSection section, float sectionTwist);