public Vector3 GetRoutePosition(float dist)
{
dist = Mathf.Clamp(dist, 0.0f, TotalDistance);
if (dist <= 0)
{
return(points_positions[0]);
}
else if (dist >= TotalDistance)
{
return(points_positions[points_num - 1]);
}
int point = 0;
while (points_distances[point] < dist)
{
point++;
}
// get nearest two points, ensuring points wrap-around start & end of circuit
p1n = point - 1;
p2n = point;
// found point numbers, now find interpolation value between the two middle points
i = Mathf.InverseLerp(points_distances[p1n], points_distances[p2n], dist);
if (smoothRoute)
{
p0n = Mathf.Clamp(point - 2, 0, points_num - 1);
p3n = Mathf.Clamp(point + 1, 0, points_num - 1);
P0 = points_positions[p0n];
P1 = points_positions[p1n];
P2 = points_positions[p2n];
P3 = points_positions[p3n];
return(Math_Functions.CatmullRom(P0, P1, P2, P3, i));
}
else
{
return(Vector3.Lerp(points_positions[p1n], points_positions[p2n], i));
}
}
public Path_Point GetPathPoint(float dist, bool isSmooth)
{
if (_isCircuit)
{
dist = (dist + TotalDistance) % TotalDistance;
}
else
{
dist = Mathf.Clamp(dist, 0.0f, TotalDistance);
}
// find segment index
int index = 1;
while (_distances[index] < dist)
{
index++;
}
// the segment in the middle
_interpolation = Mathf.InverseLerp(
_distances[index - 1],
_distances[index],
dist);
index = index % _numPoints;
if (_isCircuit)
{
_four_indices[0] = ((index - 2) + _numPoints) % _numPoints;
_four_indices[1] = ((index - 1) + _numPoints) % _numPoints;
_four_indices[2] = index % _numPoints;
_four_indices[3] = (index + 1) % _numPoints;
}
else
{
_four_indices[0] = Mathf.Clamp(index - 2, 0, _numPoints - 1);
_four_indices[1] = ((index - 1) + _numPoints) % _numPoints;
_four_indices[2] = index % _numPoints;
_four_indices[3] = Mathf.Clamp(index + 1, 0, _numPoints - 1);
}
if (isSmooth)
{
// assign the four points with the segment in the middle
_four_points[0] = _points[_four_indices[0]];
_four_points[1] = _points[_four_indices[1]];
_four_points[2] = _points[_four_indices[2]];
_four_points[3] = _points[_four_indices[3]];
// you need two points to get a forward direction
_pathPoint.point = Math_Functions.CatmullRom(
_four_points[0],
_four_points[1],
_four_points[2],
_four_points[3],
_interpolation);
_pathPoint.forward = Math_Functions.CatmullRom(
_four_points[0],
_four_points[1],
_four_points[2],
_four_points[3],
_interpolation + 0.01f) - _pathPoint.point;
_pathPoint.forward.Normalize();
}
else // strait shooting
{
_pathPoint.point = Vector3.Lerp(
_points[_four_indices[1]],
_points[_four_indices[2]],
_interpolation);
_pathPoint.forward = _points[_four_indices[2]] - _points[_four_indices[1]];
_pathPoint.forward.Normalize();
}
// 90 degree turn to right
_pathPoint.right = Vector3.Cross(
Vector3.Lerp(
_upDirections[_four_indices[1]],
_upDirections[_four_indices[2]],
_interpolation), // lerp
_pathPoint.forward).normalized; // cross
// 90 degree turn to up
_pathPoint.up = Vector3.Cross(_pathPoint.forward, _pathPoint.right).normalized;
// now all directions are 90 degrees from each other
return(_pathPoint);
}
/*
*@dist: distance 点距离起始点的距离(两点之间直线段距离累加)
* return：返回一个Path_Point 依据传入的distance
*/
public Path_Point GetPathPoint(float dist, bool isSmooth)
{
if (_isCircuit)
{
dist = (dist + TotalDistance) % TotalDistance;
}
else
{
dist = Mathf.Clamp(dist, 0.0f, TotalDistance);//限制value的值在min和max之间， 如果value小于min，返回min。 如果value大于max，返回max，否则返回value
}
// find segment index
int index = 1;
while (_distances[index] < dist)
{
index++;
}
// the segment in the middle
// static float InverseLerp(float from, float to, float value); eg: (5,10,8)==3/5
_interpolation = Mathf.InverseLerp(
_distances[index - 1],
_distances[index],
dist);//计算两个值之间的Lerp参数。也就是value在from和to之间的比例值。
//防止是圆的情况
index = index % _numPoints;
// 获取插值两边各两个点的index，总共4个点；
if (_isCircuit)
{
_four_indices[0] = ((index - 2) + _numPoints) % _numPoints;
_four_indices[1] = ((index - 1) + _numPoints) % _numPoints;
_four_indices[2] = index % _numPoints;
_four_indices[3] = (index + 1) % _numPoints;
}
else
{
_four_indices[0] = Mathf.Clamp(index - 2, 0, _numPoints - 1);
_four_indices[1] = ((index - 1) + _numPoints) % _numPoints;
_four_indices[2] = index % _numPoints;
_four_indices[3] = Mathf.Clamp(index + 1, 0, _numPoints - 1);
}
if (isSmooth)
{
// assign the four points with the segment in the middle在中间分配四个点与段
_four_points[0] = _points[_four_indices[0]];
_four_points[1] = _points[_four_indices[1]];
_four_points[2] = _points[_four_indices[2]];
_four_points[3] = _points[_four_indices[3]];
// you need two points to get a forward direction你需要两点来获得前进的方向
_pathPoint.point = Math_Functions.CatmullRom(
_four_points[0],
_four_points[1],
_four_points[2],
_four_points[3],
_interpolation);
// 获取方向增加点 interpolation值：0.001f
_pathPoint.forward = Math_Functions.CatmullRom(
_four_points[0],
_four_points[1],
_four_points[2],
_four_points[3],
_interpolation + interpolationPara) - _pathPoint.point;
_pathPoint.forward.Normalize();
}
else // strait shooting
{
_pathPoint.point = Vector3.Lerp(
_points[_four_indices[1]],
_points[_four_indices[2]],
_interpolation);
_pathPoint.forward = _points[_four_indices[2]] - _points[_four_indices[1]];
_pathPoint.forward.Normalize();
}
// 90 degree turn to right90度右转
// Vector3.Lerp p=form+(to-form)*t
//_interpolation = Mathf.InverseLerp
// 计算点在up方向上的Vector3
Vector3 tempUpDirection = Vector3.Lerp(_upDirections[_four_indices[1]], _upDirections[_four_indices[2]], _interpolation);
_pathPoint.right = Vector3.Cross(tempUpDirection, _pathPoint.forward).normalized; // cross
// 90 degree turn to up90度上转
_pathPoint.up = Vector3.Cross(_pathPoint.forward, _pathPoint.right).normalized;
//tempUpDirection.normalized 与 _pathPoint.up不相同
// now all directions are 90 degrees from each other
return(_pathPoint);
}
private void IsNotCircuit(float dist)
{
dist = Mathf.Clamp(dist, 0.0f, TotalDistance);
// find segment index
int index = 1;
while (_distances[index] < dist)
{
index++;
}
// the segment in the middle
_four_indices[1] = index - 1;
_four_indices[2] = index;
_interpolation = Mathf.InverseLerp(
_distances[_four_indices[1]],
_distances[_four_indices[2]],
dist);
if (_isSmooth)
{
_four_indices[0] = Mathf.Clamp(index - 2, 0, _points.Length - 1);
_four_indices[3] = Mathf.Clamp(index + 1, 0, _points.Length - 1);
// assign the four points with the segment in the middle
_four_points[0] = _points[_four_indices[0]];
_four_points[1] = _points[_four_indices[1]];
_four_points[2] = _points[_four_indices[2]];
_four_points[3] = _points[_four_indices[3]];
// you need two points to get a forward direction
pathPoint.point = Math_Functions.CatmullRom(
_four_points[0],
_four_points[1],
_four_points[2],
_four_points[3],
_interpolation);
pathPoint.forward = Math_Functions.CatmullRom(
_four_points[0],
_four_points[1],
_four_points[2],
_four_points[3],
_interpolation + 0.01f) - pathPoint.point;
pathPoint.forward.Normalize();
}
else // strait shooting
{
pathPoint.point = Vector3.Lerp(
_points[_four_indices[1]],
_points[_four_indices[2]],
_interpolation);
pathPoint.forward = _points[_four_indices[2]] - _points[_four_indices[1]];
pathPoint.forward.Normalize();
}
// 90 degree turn to right
pathPoint.right = Vector3.Cross(
Vector3.Lerp(
transform.InverseTransformDirection(_children_transforms[_four_indices[1]].up),
transform.InverseTransformDirection(_children_transforms[_four_indices[2]].up),
_interpolation), // lerp
pathPoint.forward).normalized; // cross
// 90 degree turn to up
pathPoint.up = Vector3.Cross(pathPoint.forward, pathPoint.right).normalized;
// now all points are 90 degrees from each other
}