private void UpdatePath(int pathID)
{
EntityManager em = World.Active.GetOrCreateManager <EntityManager>();
// Debug.Log("Updating Path: ID-" + pathEntity.Index + "-" + pathEntity.Version);
var pathCurvesBuffer = em.GetBufferFromEntity <CurveElement>()[Database.worldPaths[pathID]];
//int curvesCount = em.GetBufferFromEntity<CurveElement>()[Database.worldPaths[pathID]].Length;
//float3[] pathPoints = new float3[curvesCount * (BootStrap.Settings.pathResolution + 1)];
//int pathPointer = 0;
float4 lastWeight = new float4(0f, 0f, 0f, 1f); // (x,y,z,w)
DualQuaternion[] pathsCDH = new DualQuaternion[pathCurvesBuffer.Length * (BootStrap.Settings.pathResolution + 1)];
DualQuaternion[] temp = { new DualQuaternion(new float4(), new float4()) }; // dummy object
int index = 0;
for (int i = 0; i < pathCurvesBuffer.Length; i++)
{
Entity curveEntity = pathCurvesBuffer[i];
// Dep on Curve Type: // Calc Deltas // Calc Weigth
DualQuaternion[] curveCDH = temp;
byte curveType = em.GetComponentData <CurveInfo>(curveEntity).type;
if (curveType == CurveTypes.p5)
{
curveCDH = Calc5pCurveParams.GenerateCurvePoints(lastWeight, curveEntity);
}
else if (curveType == CurveTypes.p3v2)
{
curveCDH = CalcVecCurveParams.GenerateCurvePoints(lastWeight, curveEntity);
}
for (int j = 1; j <= curveCDH.Length; j++)
{
pathsCDH[index++] = curveCDH[j - 1]; // ATEITI GAL DETI I ENTITY.Buffer
//Debug.Log(pathsCDH[i * j].Wt + " " + pathsCDH[i * j].Ft);
// Debug.Log((index) + " " + (j - 1));
}
lastWeight = em.GetComponentData <LastWeight>(curveEntity).Value;
//foreach (var v in curve) pathPoints[pathPointer++] = v;
}
if (Database.PathsDisplacementQuaternions.ContainsKey(pathID))
{
Database.PathsDisplacementQuaternions[pathID] = pathsCDH;
}
else
{
Database.PathsDisplacementQuaternions.Add(pathID, pathsCDH);
}
//Debug.Log(Database.PathsDisplacementQuaternions.ContainsKey(pathID));
//LineRendererSystem.SetPolygonPoints(pathID, pathPoints);
}
private static float4 DisplacementRotation(DualQuaternion c, float4 x)
{
// c=[p;q] atitinka [Wt,Ft] ; x=[0, x,y,z]
// c:x -> p*x*inv(p); just rotation
float4 p = c.Wt, q = c.Ft; // p - tik su svoriais, q - su taskai+svoriais
//Vector4 newPoint = H.Mult(H.Mult(p, x) + 1.0f*q, H.Invers(p));
//float4 newPoint = H.Mult(H.Mult(p, x), H.Invers(p)); // tik posukis
float4 newPoint = H.Mult(H.Mult(p, x), H.Invers(p)); // tik posukis
return(newPoint);
}
private static float4 DisplacementMovement(DualQuaternion c)
{
// c=[p;q]; x=[0, x,y,z]
// c:x -> (q*x - 2*p)*Inv(q);
//float4 p = c[0], q = c[1];
//float4 newPoint = H.Mult(H.Mult(p, x) + 1.0f * q, H.Invers(p));
// TAIP IRGI VEIKIA
float4 curvePoint = H.Mult(c.Ft, H.Invers(c.Wt)); //H.Mult(Ft, H.Invers(Wt)) = making path of movement
return(curvePoint);
}
public static DualQuaternion[] GenerateCurve(float4[] points, float4[] weights)
{
float[] timePath = CalculateTimeListSystem.timePath;
DualQuaternion[] cDHarr = new DualQuaternion[timePath.Length];
// qt-pwf(t); pt-wf(t);
// Visis C(t) bus Img(H)
float3[] curve = new float3[timePath.Length];
float4 Ft, Wt;
for (int t = 0; t < timePath.Length; t++)
{
Ft = new float4(0, 0, 0, 0); // q(t)
Wt = new float4(0, 0, 0, 0); // p(t)
List <float> fiList = getFiList(timePath[t]);
for (int i = 0; i < BootStrap.Settings.TList.Length; i++)
{
//t yra rezoliucijos delta step
if (points.Length == 5)
{
Ft += H.Mult(points[i * 2], weights[i]) * fiList[i];
}
else
{
Ft += H.Mult(points[i], weights[i]) * fiList[i];
}
Wt += weights[i] * fiList[i];
}
//Debug.Log(Wt +" ... "+ Ft);
cDHarr[t] = new DualQuaternion(Wt, Ft); // Movement & Rotation Quaternions
// float4 curvePoint= H.Mult(Ft, H.Invers(Wt)); // making path of movement
//curve[t] = new float3(curvePoint.x, curvePoint.y, curvePoint.z);
}
return(cDHarr);
}
