コード例 #1
0
ファイル: Spline.cs プロジェクト: usernameHed/Philae-Lander
        /// <summary>Get the tangent of the curve at a point along the path.</summary>
        /// <param name="pos">Postion along the path.  Need not be normalized.</param>
        /// <returns>World-space direction of the path tangent.
        /// Length of the vector represents the tangent strength</returns>
        public override Vector3 EvaluateTangent(float pos)
        {
            Vector3 result = new Vector3();

            if (Waypoints.Length == 0)
            {
                result = transform.rotation * Vector3.forward;
            }
            else
            {
                int indexA, indexB;
                pos = GetBoundingIndices(pos, out indexA, out indexB);
                if (indexA == indexB)
                {
                    result = Waypoints[indexA].Tangent;
                }
                else
                {
                    Waypoint wpA = Waypoints[indexA];
                    Waypoint wpB = Waypoints[indexB];
                    result = ExtSpline.BezierTangent3(pos - indexA,
                                                      Waypoints[indexA].Position, wpA.Position + wpA.Tangent,
                                                      wpB.Position - wpB.Tangent, wpB.Position);
                }
            }
            return(transform.TransformDirection(result));
        }
コード例 #2
0
ファイル: Spline.cs プロジェクト: usernameHed/Philae-Lander
        /// <summary>Get a worldspace position of a point along the path</summary>
        /// <param name="pos">Postion along the path.  Need not be normalized.</param>
        /// <returns>World-space position of the point along at path at pos</returns>
        public override Vector3 EvaluatePosition(float pos)
        {
            Vector3 result = new Vector3();

            if (Waypoints.Length == 0)
            {
                result = transform.position;
            }
            else
            {
                int indexA, indexB;
                pos = GetBoundingIndices(pos, out indexA, out indexB);
                if (indexA == indexB)
                {
                    result = Waypoints[indexA].Position;
                }
                else
                {
                    // interpolate
                    Waypoint wpA = Waypoints[indexA];
                    Waypoint wpB = Waypoints[indexB];
                    result = ExtSpline.Bezier3(pos - indexA,
                                               Waypoints[indexA].Position, wpA.Position + wpA.Tangent,
                                               wpB.Position - wpB.Tangent, wpB.Position);
                }
            }
            return(transform.TransformPoint(result));
        }
コード例 #3
0
        /// <summary>Get the orientation the curve at a point along the path.</summary>
        /// <param name="pos">Position along the path.  Need not be normalized.</param>
        /// <returns>World-space orientation of the path, as defined by tangent, up, and roll.</returns>
        public override Quaternion EvaluateOrientation(float pos)
        {
            Quaternion result = transform.rotation;

            if (Waypoints.Length > 0)
            {
                float roll = 0;
                int   indexA, indexB;
                pos = GetBoundingIndices(pos, out indexA, out indexB);
                if (indexA == indexB)
                {
                    roll = Waypoints[indexA].Roll;
                }
                else
                {
                    UpdateControlPoints();
                    roll = ExtSpline.Bezier1(pos - indexA,
                                             Waypoints[indexA].Roll, m_ControlPoints1[indexA].Roll,
                                             m_ControlPoints2[indexA].Roll, Waypoints[indexB].Roll);
                }

                Vector3 fwd = EvaluateTangent(pos);
                if (!fwd.AlmostZero())
                {
                    Vector3    up = transform.rotation * Vector3.up;
                    Quaternion q  = Quaternion.LookRotation(fwd, up);
                    result = q * Quaternion.AngleAxis(roll, Vector3.forward);
                }
            }
            return(result);
        }
コード例 #4
0
        protected void UpdateControlPoints()
        {
            int numPoints = (Waypoints == null) ? 0 : Waypoints.Length;

            if (numPoints > 1 &&
                (Looped != m_IsLoopedCache ||
                 m_ControlPoints1 == null || m_ControlPoints1.Length != numPoints ||
                 m_ControlPoints2 == null || m_ControlPoints2.Length != numPoints))
            {
                Vector4[] p1 = new Vector4[numPoints];
                Vector4[] p2 = new Vector4[numPoints];
                Vector4[] K  = new Vector4[numPoints];
                for (int i = 0; i < numPoints; ++i)
                {
                    K[i] = Waypoints[i].AsVector4;
                }
                if (Looped)
                {
                    ExtSpline.ComputeSmoothControlPointsLooped(ref K, ref p1, ref p2);
                }
                else
                {
                    ExtSpline.ComputeSmoothControlPoints(ref K, ref p1, ref p2);
                }

                m_ControlPoints1 = new Waypoint[numPoints];
                m_ControlPoints2 = new Waypoint[numPoints];
                for (int i = 0; i < numPoints; ++i)
                {
                    m_ControlPoints1[i] = Waypoint.FromVector4(p1[i]);
                    m_ControlPoints2[i] = Waypoint.FromVector4(p2[i]);
                }
                m_IsLoopedCache = Looped;
            }
        }
コード例 #5
0
        /// <summary>Get the tangent of the curve at a point along the path.</summary>
        /// <param name="pos">Position along the path.  Need not be normalized.</param>
        /// <returns>World-space direction of the path tangent.
        /// Length of the vector represents the tangent strength</returns>
        public override Vector3 EvaluateTangent(float pos)
        {
            Vector3 result = transform.rotation * Vector3.forward;

            if (Waypoints.Length > 1)
            {
                UpdateControlPoints();
                int indexA, indexB;
                pos = GetBoundingIndices(pos, out indexA, out indexB);
                if (!Looped && indexA == Waypoints.Length - 1)
                {
                    --indexA;
                }
                result = ExtSpline.BezierTangent3(pos - indexA,
                                                  Waypoints[indexA].Position, m_ControlPoints1[indexA].Position,
                                                  m_ControlPoints2[indexA].Position, Waypoints[indexB].Position);
            }
            return(transform.TransformDirection(result));
        }
コード例 #6
0
        /// <summary>Get a worldspace position of a point along the path</summary>
        /// <param name="pos">Position along the path.  Need not be normalized.</param>
        /// <returns>World-space position of the point along at path at pos</returns>
        public override Vector3 EvaluatePosition(float pos)
        {
            Vector3 result = Vector3.zero;

            if (Waypoints.Length > 0)
            {
                UpdateControlPoints();
                int indexA, indexB;
                pos = GetBoundingIndices(pos, out indexA, out indexB);
                if (indexA == indexB)
                {
                    result = Waypoints[indexA].Position;
                }
                else
                {
                    result = ExtSpline.Bezier3(pos - indexA,
                                               Waypoints[indexA].Position, m_ControlPoints1[indexA].Position,
                                               m_ControlPoints2[indexA].Position, Waypoints[indexB].Position);
                }
            }
            return(transform.TransformPoint(result));
        }