public static MatrixVector convertToMatrix(Vector3[] points){
MatrixVector m = new MatrixVector (points.Length, 1);
for (int i=0; i<points.Length; i++)
m.setValueAt (i, 0, points [i]);
return m;
}
public static MatrixVector convertToMatrix(Vector3[] points)
{
MatrixVector m = new MatrixVector(points.Length, 1);
for (int i = 0; i < points.Length; i++)
{
m.setValueAt(i, 0, points [i]);
}
return(m);
}
public static MatrixVector multiplyByMatrix(Matrix m, MatrixVector n)
{
MatrixVector res = new MatrixVector(m.getNrows(), 1);
for (int i = 0; i < m.getNrows(); i++)
{
Vector3 sum = new Vector3(0, 0, 0);
for (int j = 0; j < m.getNcols(); j++)
{
sum += new Vector3((float)(m.getValueAt(i, j) * n.getValueAt(j, 0).x), (float)(m.getValueAt(i, j) * n.getValueAt(j, 0).y), (float)(m.getValueAt(i, j) * n.getValueAt(j, 0).z));
}
res.setValueAt(i, 0, sum);
}
return(res);
}
public static MatrixVector multiplyByMatrix(Matrix m, MatrixVector n)
{
MatrixVector res = new MatrixVector (m.getNrows(), 1);
for (int i=0; i<m.getNrows(); i++)
{
Vector3 sum = new Vector3 (0, 0, 0);
for (int j=0; j<m.getNcols(); j++)
sum += new Vector3 ((float)(m.getValueAt (i, j) * n.getValueAt(j,0).x), (float)(m.getValueAt (i, j) * n.getValueAt(j,0).y), (float)(m.getValueAt (i, j) * n.getValueAt(j,0).z));
res.setValueAt(i,0,sum);
}
return res;
}
public static Vector3 followPath(Vector3[] vectors, bool mode, GameObject pathsColls){
Npoints= new Vector3[11];
C = new Matrix (11, 4);
float k = 0f;
for(int i=0;i<=10;i++)
{
C.setValueAt(i,0,Mathf.Pow(1-k,3));
C.setValueAt(i,1,3*k*(1-k)*(1-k));
C.setValueAt(i,2,3*k*k*(1-k));
C.setValueAt(i,3, k*k*k);
k+=0.1f;
}
T = Matrix.transpose (C);
M = Matrix.multiply(Matrix.inverse(Matrix.multiply (T,C)),T);
findNpoints(vectors);
N = convertToMatrix (Npoints);
P = MatrixVector.multiplyByMatrix (M, N);
new Bezier (P.getValueAt (3, 0), P.getValueAt (2, 0), P.getValueAt (1, 0), P.getValueAt (0, 0), mode, pathsColls, 200);
return P.getValueAt (2, 0);
}
public static Vector3 followPath(Vector3[] vectors, GameObject prefab, bool mode, GameObject pathsColls)
{
Npoints = new Vector3[11];
for (int x = 0; x < vectors.Length; x++)
{
Vector3 temp = new Vector3(vectors[x].x, vectors[x].y, vectors[x].z);
//GameObject sphere= GameObject.CreatePrimitive(PrimitiveType.Sphere);
/*GameObject sphere = Instantiate(prefab);
* sphere.GetComponent<Renderer>().material.color = Color.yellow;
* sphere.transform.position = temp;*/
}
C = new Matrix(11, 4);
float k = 0f;
for (int i = 0; i <= 10; i++)
{
C.setValueAt(i, 0, Mathf.Pow(1 - k, 3));
C.setValueAt(i, 1, 3 * k * (1 - k) * (1 - k));
C.setValueAt(i, 2, 3 * k * k * (1 - k));
C.setValueAt(i, 3, k * k * k);
k += 0.1f;
}
T = Matrix.transpose(C);
// Matrix m = Matrix.multiply (T, C);
//ispis (m);
// Matrix n = Matrix.inverse (m);
//ispis (n);
M = Matrix.multiply(Matrix.inverse(Matrix.multiply(T, C)), T);
//Debug.Log("*******M*********");
ispis(M);
/*N = new MatrixVector (11,1);
* N.setValueAt (0, 0, new Vector3 (1, 1, 1));
* N.setValueAt (1, 0, new Vector3(1,3,5));
* N.setValueAt (2, 0, new Vector3 (2, 2, 2));
* N.setValueAt (3, 0, new Vector3 (5, 7, 6));
* N.setValueAt (4, 0, new Vector3 (9, 10, 3));
* N.setValueAt (5, 0, new Vector3(0,10,4));
* N.setValueAt (6, 0, new Vector3 (1, 15, 10));
* N.setValueAt (7, 0, new Vector3 (1, 0, 11));
* N.setValueAt (8, 0, new Vector3 (-2, 0, 10));
* N.setValueAt (9, 0, new Vector3 (5, 7, -3));
* N.setValueAt (10, 0,new Vector3(9,-2,1));*/
findNpoints(vectors);
N = convertToMatrix(Npoints);
P = MatrixVector.multiplyByMatrix(M, N);
for (int x = 0; x < Npoints.Length; x++)
{
//Vector3 temp = new Vector3(vectors[x].x,vectors[x].y,vectors[x].z);
//GameObject sphere= GameObject.CreatePrimitive(PrimitiveType.Sphere);
/*GameObject sphere = Instantiate(prefab);
* sphere.GetComponent<Renderer>().material.color = Color.green;
*
* sphere.transform.position = Npoints[x];
*/
}
new Bezier(P.getValueAt(3, 0), P.getValueAt(2, 0), P.getValueAt(1, 0), P.getValueAt(0, 0), prefab, null, mode, pathsColls, 200);
//for (int i=0; i<4; i++)
// Debug.Log (P.getValueAt (i, 0));
return(P.getValueAt(2, 0));
}
public static Vector3 followPath(Vector3[] vectors, GameObject prefab, bool mode, GameObject pathsColls){
Npoints= new Vector3[11];
for(int x=0; x<vectors.Length; x++)
{
Vector3 temp = new Vector3(vectors[x].x,vectors[x].y,vectors[x].z);
//GameObject sphere= GameObject.CreatePrimitive(PrimitiveType.Sphere);
/*GameObject sphere = Instantiate(prefab);
sphere.GetComponent<Renderer>().material.color = Color.yellow;
sphere.transform.position = temp;*/
}
C = new Matrix (11, 4);
float k = 0f;
for(int i=0;i<=10;i++)
{
C.setValueAt(i,0,Mathf.Pow(1-k,3));
C.setValueAt(i,1,3*k*(1-k)*(1-k));
C.setValueAt(i,2,3*k*k*(1-k));
C.setValueAt(i,3, k*k*k);
k+=0.1f;
}
T = Matrix.transpose (C);
// Matrix m = Matrix.multiply (T, C);
//ispis (m);
// Matrix n = Matrix.inverse (m);
//ispis (n);
M = Matrix.multiply(Matrix.inverse(Matrix.multiply (T,C)),T);
//Debug.Log("*******M*********");
ispis (M);
/*N = new MatrixVector (11,1);
N.setValueAt (0, 0, new Vector3 (1, 1, 1));
N.setValueAt (1, 0, new Vector3(1,3,5));
N.setValueAt (2, 0, new Vector3 (2, 2, 2));
N.setValueAt (3, 0, new Vector3 (5, 7, 6));
N.setValueAt (4, 0, new Vector3 (9, 10, 3));
N.setValueAt (5, 0, new Vector3(0,10,4));
N.setValueAt (6, 0, new Vector3 (1, 15, 10));
N.setValueAt (7, 0, new Vector3 (1, 0, 11));
N.setValueAt (8, 0, new Vector3 (-2, 0, 10));
N.setValueAt (9, 0, new Vector3 (5, 7, -3));
N.setValueAt (10, 0,new Vector3(9,-2,1));*/
findNpoints(vectors);
N = convertToMatrix (Npoints);
P = MatrixVector.multiplyByMatrix (M, N);
for(int x=0;x<Npoints.Length; x++)
{
//Vector3 temp = new Vector3(vectors[x].x,vectors[x].y,vectors[x].z);
//GameObject sphere= GameObject.CreatePrimitive(PrimitiveType.Sphere);
/*GameObject sphere = Instantiate(prefab);
sphere.GetComponent<Renderer>().material.color = Color.green;
sphere.transform.position = Npoints[x];
*/
}
new Bezier (P.getValueAt (3, 0), P.getValueAt (2, 0), P.getValueAt (1, 0), P.getValueAt (0, 0), prefab, null, mode, pathsColls, 200);
//for (int i=0; i<4; i++)
// Debug.Log (P.getValueAt (i, 0));
return P.getValueAt (2, 0);
}
