// Use this for initialization
void Start()
{
arcLength = 0;
measuredArc = 0;
transform.position = TelescopeUtils.TranslateAlongHelix(curvature, torsion, arcLength);
transform.rotation = TelescopeUtils.RotateAlongHelix(curvature, torsion, arcLength);
}
public void MakeShellsFromDiffs(List <TelescopeParameters> diffs)
{
initNumShells = diffs.Count;
parameters = diffs;
shells = new List <TelescopeShell>();
initialDirection.Normalize();
// Compute the absolute parameter values from the list of diffs we are given.
List <TelescopeParameters> concreteParams = new List <TelescopeParameters>();
TelescopeParameters theParams = diffs[0];
concreteParams.Add(new TelescopeParameters(diffs[0]));
for (int i = 1; i < initNumShells; i++)
{
if (diffs[i].radius > -wallThickness)
{
diffs[i].radius = -wallThickness;
}
theParams = theParams + diffs[i];
theParams.length -= 0; // wallThickness;
//theParams.radius -= wallThickness;
concreteParams.Add(theParams);
}
// Make sure the final shell is greater than the minimum possible width.
if (concreteParams[concreteParams.Count - 1].radius < wallThickness)
{
concreteParams[concreteParams.Count - 1].radius = wallThickness;
}
// Make sure that all the shells fit inside each other.
TelescopeUtils.growChainToFit(concreteParams);
MakeShellsFromFinalList(concreteParams);
}
public TelescopeShell addChildShell(TelescopeShell parent,
TelescopeParameters parentParams, TelescopeParameters childParams,
TelescopeParameters nextParams, bool isNotLast)
{
int i = shells.Count;
// Make the new shell, and set the previous shell as its parent
GameObject shellObj = new GameObject();
shellObj.transform.parent = parent.transform;
shellObj.name = name + "-shell" + i;
// Make the geometry, etc.
TelescopeShell newShell = shellObj.AddComponent <TelescopeShell>();
newShell.GenerateGeometry(childParams, nextParams, doOverhang: true);
newShell.setMaterial(material);
// Set the shell's rest transformation relative to its parent.
// When the shell's current extension ratio is 0, this is where
// it is located relative to its parent.
// newShell.baseRadians = newShell.radiansOfLength(wallThickness);
newShell.baseTranslation = TelescopeUtils.childBasePosition(parentParams, childParams);
newShell.baseRotation = TelescopeUtils.childBaseRotation(parentParams, childParams);
shells.Add(newShell);
shellObj.layer = 8;
newShell.containingSegment = this;
return(newShell);
}
CylinderMesh GenerateInnerCylinder(TelescopeParameters nextParams, bool overhang, float arcOffset,
int extraRings = 0)
{
TelescopeParameters ourParams = getParameters();
CylinderMesh innerCyl;
// If there is a change in profile from this shell to the next...
if (nextParams != null && (nextParams.curvature != curvature || nextParams.torsion != torsion ||
nextParams.radius < radius - Constants.WALL_THICKNESS * 1.01f))
{
// Generate the outer profile of the child shell; this will become
// the inner profile of this shell.
TelescopeParameters innerParams = new TelescopeParameters(nextParams.length, nextParams.radius,
nextParams.thickness, nextParams.curvature, nextParams.torsion, nextParams.twistFromParent);
innerCyl = GenerateCylinder(innerParams,
Constants.TAPER_SLOPE, innerGroove: true, overhang: overhang,
extraRings: extraRings);
// Move and rotate the inner profile so that the end circles align.
Quaternion alignRotation = TelescopeUtils.childBaseRotation(ourParams, nextParams);
Vector3 alignTranslation = TelescopeUtils.childBasePosition(ourParams, nextParams);
Quaternion backRotation = TelescopeUtils.RotateAlongHelix(nextParams.curvature,
nextParams.torsion, arcOffset);
Vector3 backTranslation = TelescopeUtils.TranslateAlongHelix(nextParams.curvature,
nextParams.torsion, arcOffset);
innerCyl.ApplyRotation(backRotation);
innerCyl.ApplyTranslation(backTranslation);
innerCyl.ApplyRotation(alignRotation);
innerCyl.ApplyTranslation(alignTranslation);
}
else
{
TelescopeParameters innerParams = new TelescopeParameters(length, radius - thickness,
thickness, curvature, torsion, 0);
innerCyl = GenerateCylinder(innerParams,
Constants.TAPER_SLOPE, innerGroove: (nextParams != null), overhang: overhang,
extraRings: extraRings);
if (nextParams != null)
{
Quaternion backRotation = TelescopeUtils.RotateAlongHelix(nextParams.curvature,
nextParams.torsion, arcOffset);
Vector3 backTranslation = TelescopeUtils.TranslateAlongHelix(nextParams.curvature,
nextParams.torsion, arcOffset);
innerCyl.ApplyRotation(backRotation);
innerCyl.ApplyTranslation(backTranslation);
}
}
return(innerCyl);
}
Vector3 TransformedHelixPoint(CurveSegment cs, float arcLen)
{
// Get the helix point in local coordinates
Vector3 helixPoint = TelescopeUtils.TranslateAlongHelix(cs.curvature, cs.torsion, arcLen);
// Transform to world
Quaternion rotateToWorld = Quaternion.LookRotation(cs.frame.T, cs.frame.N);
Vector3 world = rotateToWorld * helixPoint + cs.startPosition;
return(world);
}
Vector3 StartEndpointCC(float angleOffset)
{
Vector3 circumBegin = TelescopeUtils.Circumcenter(points[1], points[2], points[3]);
Vector3 normalBegin = Vector3.Cross(points[2] - points[1], points[3] - points[1]);
Vector3 beginOffset = points[1] - circumBegin;
Vector3 rotatedBegin = Quaternion.AngleAxis(-angleOffset, normalBegin) * beginOffset + circumBegin;
//Vector3 diffBegin = (rotatedBegin - points[1]).normalized * 0.1f;
return(rotatedBegin);
}
public void MakeShellsFromConcrete(List <TelescopeParameters> concreteParams)
{
initNumShells = concreteParams.Count;
shells = new List <TelescopeShell>();
initialDirection.Normalize();
// Make sure that all the shells fit inside each other.
TelescopeUtils.growChainToFit(concreteParams);
MakeShellsFromFinalList(concreteParams);
}
OrthonormalFrame TransformedHelixFrame(CurveSegment cs, float arcLen)
{
// Apply the local helix rotation.
Quaternion oldRot = Quaternion.LookRotation(cs.frame.T, cs.frame.N);
Quaternion newRot = oldRot *
TelescopeUtils.RotateAlongHelix(cs.curvature, cs.torsion, arcLen)
* Quaternion.Inverse(oldRot);
OrthonormalFrame newFrame = cs.frame.RotatedBy(newRot);
return(newFrame);
}
public void ShrinkToFit()
{
if (selected)
{
TelescopeSegment segment = selected.containingSegment;
List <TelescopeParameters> allParams = segment.getParamList();
TelescopeUtils.growChainToFit(allParams, shrinkFit: true);
segment.MakeAllShells(allParams);
segment.SetShellExtensions(1);
selected = null;
}
}
Vector3 EndEndpointCC(float angleOffset)
{
int last = points.Count - 1;
Vector3 circumEnd = TelescopeUtils.Circumcenter(points[last - 1], points[last - 2], points[last - 3]);
Vector3 normalEnd = Vector3.Cross(points[last - 2] - points[last - 1], points[last - 3] - points[last - 1]);
Vector3 endOffset = points[last - 1] - circumEnd;
Vector3 rotatedEnd = Quaternion.AngleAxis(-angleOffset, normalEnd) * endOffset + circumEnd;
//Vector3 diffEnd = (rotatedEnd - points[last - 1]).normalized * 0.1f;
return(rotatedEnd);
}
// Update is called once per frame
void Update()
{
arcLength += Time.deltaTime;
Vector3 pos = TelescopeUtils.TranslateAlongHelix(curvature, torsion, arcLength);
float diff = Vector3.Distance(pos, transform.position);
measuredArc += diff;
transform.position = pos;
transform.rotation = TelescopeUtils.RotateAlongHelix(curvature, torsion, arcLength);
velocity = diff / Time.deltaTime;
}
float AverageCurvature()
{
// Get the average curvature of this curve
float averageCurvature = 0;
foreach (DCurvePoint dcp in discretizedPoints)
{
averageCurvature += dcp.bendingAngle * Mathf.Deg2Rad;
}
averageCurvature /= discretizedPoints.Count;
averageCurvature = TelescopeUtils.CurvatureOfDiscrete(averageCurvature, segmentLength);
return(averageCurvature);
}
public OrthonormalFrame PropagateBishop(Vector3 prevPos, Vector3 nextPos, OrthonormalFrame prevFrame)
{
Vector3 tangent = (nextPos - position).normalized;
Vector3 prevTangent = (position - prevPos).normalized;
Vector3 binormal = Vector3.Cross(prevTangent, tangent).normalized;
float angle = TelescopeUtils.AngleBetween(prevTangent, tangent, binormal);
Quaternion rotation = Quaternion.AngleAxis(angle, binormal);
OrthonormalFrame rotated = prevFrame.RotatedBy(rotation);
bishopFrame = rotated;
return(rotated);
}
public static void growChainToFit(List <TelescopeParameters> parameters, bool shrinkFit = false)
{
// Make a pass in reverse that grows each parent so that it is large enough
// to contain its child.
for (int i = parameters.Count - 1; i > 0; i--)
{
if (parameters[i - 1].torsion != 0 || parameters[i].torsion != 0)
{
TelescopeUtils.growParentToChildHelix(parameters[i - 1], parameters[i], shrinkFit);
}
else
{
TelescopeUtils.growParentToChild(parameters[i - 1], parameters[i], shrinkFit);
}
}
}
/// <summary>
/// Create a set of vertices arranged evenly spaced in a circle, with the specified radius,
/// centered at centerPoint, and with the specified normal direction. The number of vertices
/// is given by verticesPerCircle.
/// </summary>
/// <param name="centerPoint"></param>
/// <param name="direction"></param>
/// <param name="radius"></param>
/// <returns></returns>
List <IndexedVertex> GenerateCircle(int circNum, Vector3 centerPoint, Vector3 direction,
Vector3 normal, float radius, bool addInnerGrooves = false, bool addOuterGroove = false)
{
float angleStep = (2 * Mathf.PI) / Constants.VERTS_PER_CIRCLE;
float degreeStep = angleStep * Mathf.Rad2Deg;
int twistCuts = Mathf.CeilToInt(Mathf.Abs(nextTwistAngle) / degreeStep);
twistCuts *= Mathf.RoundToInt(Mathf.Sign(nextTwistAngle));
List <IndexedVertex> verts = new List <IndexedVertex>();
int grooveRange = Constants.GROOVE_CUT_RADIUS;
// First create points in a circle in the XY plane, facing the forward direction.
// Then apply the rotation that will rotate the normal onto the desired direction.
// Finally, offset it in space to the desired location.
Quaternion circleRotation = Quaternion.FromToRotation(Vector3.forward, direction);
Vector3 initNormal = Vector3.up;
Vector3 rotatedNormal = circleRotation * initNormal;
float angle = TelescopeUtils.AngleBetween(rotatedNormal, normal, direction);
Quaternion normalRotation = Quaternion.AngleAxis(angle, direction);
for (int i = 0; i < Constants.VERTS_PER_CIRCLE; i++)
{
float currentAngle = i * angleStep;
float radiusOffset = 0;
if (i < grooveRange ||
Mathf.Abs(i - Constants.VERTS_PER_CIRCLE / 2) < grooveRange ||
Mathf.Abs(i - Constants.VERTS_PER_CIRCLE) < grooveRange)
{
if (addInnerGrooves)
{
radiusOffset = (thickness - Constants.SHELL_GAP) * Constants.INDENT_RATIO;
}
else if (addOuterGroove)
{
radiusOffset = (thickness - Constants.SHELL_GAP / 2) * Constants.INDENT_RATIO;
}
}
else if (circNum >= Constants.CUTS_PER_CYLINDER - 1 &&
circNum < Constants.CUTS_PER_CYLINDER + Constants.FIN_CUTS)
{
if (addInnerGrooves &&
(IsInRadius(i, 0, twistCuts, grooveRange) ||
IsInRadius(i, Constants.VERTS_PER_CIRCLE,
Constants.VERTS_PER_CIRCLE + twistCuts, grooveRange) ||
IsInRadius(i, Constants.VERTS_PER_CIRCLE / 2,
Constants.VERTS_PER_CIRCLE / 2 + twistCuts, grooveRange)))
{
radiusOffset = (thickness - Constants.SHELL_GAP) * Constants.INDENT_RATIO;
}
}
// Make the vertices in clockwise order
Vector3 vert = new Vector3(Mathf.Cos(currentAngle), -Mathf.Sin(currentAngle));
// Scale by radius.
vert *= (radius + radiusOffset);
// Rotate it to orbit the desired direction.
vert = circleRotation * vert;
// Rotate it again so that the curvature normal is aligned.
vert = normalRotation * vert;
// Offset in space to the center point.
vert += centerPoint;
IndexedVertex iv = new IndexedVertex(vert, currentIndex);
currentIndex++;
verts.Add(iv);
}
return(verts);
}
public Quaternion rotationOfDistance(float arcLength, float curvature, float torsion)
{
return(TelescopeUtils.RotateAlongHelix(curvature, torsion, arcLength));
}
Vector3 translationOfDistance(float arcLength, float curvature, float torsion)
{
return(TelescopeUtils.TranslateAlongHelix(curvature, torsion, arcLength));
}
// Compute all internal bending axes/angles from a list of points.
public void InitFromPoints(List <Vector3> points, float segLength)
{
segmentLength = segLength;
StartingPoint = points[0];
startingTangent = points[1] - points[0];
startingTangent.Normalize();
discretizedPoints = new List <DCurvePoint>();
Vector3 prevBinormal = Vector3.zero;
// We need to store bending angles / directions of all the interior
// vertices of the curve (but not the endpoints).
for (int i = 1; i < points.Count - 1; i++)
{
Vector3 previousVec = points[i] - points[i - 1];
Vector3 nextVec = points[i + 1] - points[i];
previousVec.Normalize();
nextVec.Normalize();
// If zero, then treat it as a straight segment
if (nextVec.magnitude < 0.5f)
{
DCurvePoint d = new DCurvePoint(prevBinormal, 0, 0);
discretizedPoints.Add(d);
continue;
}
Vector3 curvatureBinormal = Vector3.Cross(previousVec, nextVec).normalized;
if (i == 1)
{
startingBinormal = curvatureBinormal;
}
// Compute bending angles (discrete curvature).
float dot = Vector3.Dot(previousVec, nextVec);
float bendAngle = (dot >= 1) ? 0 : Mathf.Rad2Deg * Mathf.Acos(dot);
// Compute twisting angles (discrete torsion).
float twistAngle;
// Compute twist angles as we go along.
// The first vertex is considered to have no twist.
if (i == 1)
{
twistAngle = 0;
}
else
{
twistAngle = TelescopeUtils.AngleBetween(prevBinormal, curvatureBinormal, previousVec);
// If the bend angle is tiny, then the curve is basically straight, so
// just set twist values to 0 to avoid unnecessary twisting.
/*if (Mathf.Abs(bendAngle) <= 0.1)
* {
* bendAngle = 0;
* twistAngle = 0;
* }*/
}
if (float.IsNaN(bendAngle))
{
throw new System.Exception("Bend angle is nan, dot = " + dot);
}
if (float.IsNaN(twistAngle))
{
throw new System.Exception("Twist angle is nan");
}
prevBinormal = curvatureBinormal;
DCurvePoint dcp = new DCurvePoint(curvatureBinormal.normalized,
bendAngle, twistAngle);
discretizedPoints.Add(dcp);
}
if (startingBinormal.magnitude < 0.001f)
{
if (startingTangent == Vector3.up)
{
startingBinormal = Vector3.right;
}
else
{
startingBinormal = Vector3.up;
Vector3 orthogonal = Vector3.Dot(startingBinormal, startingTangent) * startingTangent;
startingBinormal = startingBinormal - orthogonal;
startingBinormal.Normalize();
}
}
targetEndPoint = ReconstructFromAngles();
ComputeFrenetFrames();
ComputeBishopFrames();
}
// Update is called once per frame
void Update()
{
if (ReversedOption != Reversed)
{
ReverseTelescope();
Reversed = ReversedOption;
}
if (Input.GetKeyDown("["))
{
List <Vector3> pts = new List <Vector3>();
pts.Add(BasePointAtCenter);
pts.Add(BasePointOnSurface);
TelescopeUtils.DisplayLine(pts);
}
/*
* if (Input.GetKey("left shift") && Input.GetKeyDown("enter"))
* {
* ExtendImmediate(0);
*
* STLWriter.WriteSTLOfSegment(this, WorldSpaceMin - new Vector3(0.01f, 0.01f, 0.01f), name + ".stl");
*
* Mesh volume = shells[0].GenerateInnerVolume(shells[1].getParameters(), -0.5f);
* GameObject innerVolume = new GameObject();
* MeshFilter mf = innerVolume.AddComponent<MeshFilter>();
* innerVolume.AddComponent<MeshRenderer>().material = DesignerController.instance.defaultTelescopeMaterial;
* mf.mesh = volume;
*
* innerVolume.transform.parent = shells[0].transform;
* innerVolume.transform.localPosition = Vector3.zero;
* innerVolume.transform.localRotation = Quaternion.identity;
*
* //shells[0].ReplaceMesh(volume);
*
* for (int i = 1; i < shells.Count; i++)
* {
* shells[i].GetComponent<MeshRenderer>().enabled = false;
* }
*
* //STLWriter.WriteSTLOfMesh(shells[0].mesh, "scad/innerVolume.stl");
* }
*/
if (rootSegment)
{
if (Input.GetKeyDown("e"))
{
ExtendTo(1, Mathf.Log(shells.Count));
}
else if (Input.GetKeyDown("q"))
{
ExtendTo(0, Mathf.Log(shells.Count));
}
}
if (currentlyInterp)
{
extensionTime += Time.deltaTime;
currentExtension = Mathf.Lerp(oldExtension, targetExtension, extensionTime / extensionTimespan);
if (extensionTime >= extensionTimespan)
{
currentlyInterp = false;
currentExtension = targetExtension;
}
SetShellExtensions(currentExtension);
}
for (int i = 1; i < shells.Count; i++)
{
shells[i].SetTransform();
}
if (Input.GetKeyDown("/"))
{
List <Vector3> firstRing = FirstVertRing;
List <Vector3> lastRing = LastVertRing;
foreach (Vector3 v in firstRing)
{
GameObject g = GameObject.CreatePrimitive(PrimitiveType.Sphere);
g.transform.localScale = new Vector3(0.1f, 0.1f, 0.1f);
g.transform.position = v;
}
foreach (Vector3 v in lastRing)
{
GameObject g = GameObject.CreatePrimitive(PrimitiveType.Sphere);
g.transform.localScale = new Vector3(0.1f, 0.1f, 0.1f);
g.transform.position = v;
}
}
}
