private void UpdateLatestVelocitiesAndPoseValues(Pose referencePose, float delta)
{
(_linearVelocity, _angularVelocity) = GetLatestLinearAndAngularVelocities(
referencePose, delta);
_linearVelocity = _linearVelocityFilter.Step(_linearVelocity);
var newReleaseVelocInfo = new ReleaseVelocityInformation(_linearVelocity, _angularVelocity,
referencePose.position);
WhenNewSampleAvailable(newReleaseVelocInfo);
_previousReferencePosition = referencePose.position;
_previousReferenceRotation = referencePose.rotation;
}
public ReleaseVelocityInformation CalculateThrowVelocity(Transform objectThrown)
{
Vector3 linearVelocity = Vector3.zero,
angularVelocity = Vector3.zero;
IncludeInstantVelocities(ref linearVelocity, ref angularVelocity);
IncludeTrendVelocities(ref linearVelocity, ref angularVelocity);
IncludeTangentialInfluence(ref linearVelocity, objectThrown.position);
IncludeExternalVelocities(ref linearVelocity, ref angularVelocity);
_currentThrowVelocities.Clear();
// queue items in order from lastWritePos to earliest sample
int numPoses = _bufferedPoses.Count;
for (int readPos = _lastWritePos, itemsRead = 0;
itemsRead < numPoses; readPos--, itemsRead++)
{
if (readPos < 0)
{
readPos = numPoses - 1;
}
var item = _bufferedPoses[readPos];
ReleaseVelocityInformation newSample = new ReleaseVelocityInformation(
item.LinearVelocity,
item.AngularVelocity,
item.TransformPose.position,
false);
_currentThrowVelocities.Add(newSample);
}
ReleaseVelocityInformation newVelocity = new ReleaseVelocityInformation(linearVelocity,
angularVelocity,
_previousReferencePosition.HasValue ? _previousReferencePosition.Value : Vector3.zero,
true);
_currentThrowVelocities.Add(newVelocity);
WhenThrowVelocitiesChanged(_currentThrowVelocities);
_bufferedPoses.Clear();
_lastWritePos = -1;
_linearVelocityFilter.Reset();
return(newVelocity);
}
