public static BezierSegment3D[] SegmentsFromPoints(Vector3[] points, float radiusScalar, bool closed = false)
{
if (points.Length < 3)
{
// Debug.LogWarning($"Ahoy Bezier - point count must be at least 3");
return(new BezierSegment3D[0]);
}
int numSegments = closed ? points.Length : points.Length - 1;
BezierSegment3D[] segments = new BezierSegment3D[numSegments];
Vector3[] tangents = closed ?
CreateTangentsClosed(points, radiusScalar) :
CreateTangentsOpen(points, radiusScalar);
for (int pi = 0, ti = 0; pi < points.Length - 1; pi++, ti += 2)
{
segments[pi] = new BezierSegment3D(
points[pi],
tangents[ti],
tangents[ti + 1],
points[pi + 1]);
}
if (closed)
{
segments[segments.Length - 1] = new BezierSegment3D(
points[points.Length - 1],
tangents[tangents.Length - 2],
tangents[tangents.Length - 1],
points[0]);
}
return(segments);
}
public static Vector3 Cubic(BezierSegment3D seg, float t)
{
return(new Vector3(
Bezier.Cubic(seg.p0.x, seg.p1.x, seg.p2.x, seg.p3.x, t),
Bezier.Cubic(seg.p0.y, seg.p1.y, seg.p2.y, seg.p3.y, t),
Bezier.Cubic(seg.p0.z, seg.p1.z, seg.p2.z, seg.p3.z, t)));
}
public static BezierSegment3D[] SegmentsFromPoses(Pose[] poses, float radiusScalar)
{
if (poses.Length < 2)
{
return(new BezierSegment3D[0]);
}
var segments = new BezierSegment3D[poses.Length - 1];
for (int i = 0; i < poses.Length - 1; i++)
{
segments[i] = SegmentFromPoses(poses[i], poses[i + 1], radiusScalar);
}
return(segments);
}
public static Vector3[] CreateDistributedPoints(BezierSegment3D segment, float maxDeltaPosition = 0.1f)
{
int numPoints = Mathf.CeilToInt(segment.length / maxDeltaPosition);
if (numPoints > 5000 || numPoints < 1)
{
Debug.LogWarning($"Ahoy Bezier - max point count reached - 5000");
numPoints = 5000;
}
var points = new Vector3[numPoints];
for (int i = 0; i < numPoints; i++)
{
float t = (float)i / (numPoints - 1);
points[i] = Cubic(segment, t);
}
return(points);
}