public Pose UpdateProxyMotion(ProxyForceFieldId id, ProxyForceFieldMotion askedMotion)
{
var def = m_ProxyDef[id];
var oldPose = m_ProxyMotions[id];
var newPose = def.allowedMotion.TrimMotionUpdate(oldPose, askedMotion);
m_ProxyMotions[id] = newPose;
return(newPose.location);
}
public void UpdateFieldPoseOnly(ProxyForceFieldId id, Pose worldPose)
{
ProxyForceFieldMotion motion;
if (m_ProxyMotions.ContainsKey(id))
{
motion = m_ProxyMotions[id];
motion.location = worldPose;
}
else
{
motion = new ProxyForceFieldMotion(worldPose, Pose.identity);
}
m_ProxyMotions[id] = motion;
}
internal SolverFieldErrorScore ScorePose(ProxyForceFieldId id, Pose pose)
{
var state = new SolverFieldState();
var motion = new ProxyForceFieldMotion(pose, Pose.identity);
state.FrameReset(motion);
var oldPose = m_ProxyMotions[id];
m_ProxyMotions[id] = motion;
var def = m_ProxyDef[id];
def.isActive = true;
CalculateForces(ref state, def, id);
m_ProxyMotions[id] = oldPose;
state.errorScore.UpdateFinalScore();
return(state.errorScore);
}
internal static ProxyForceFieldMotion TrimMotionUpdate(this ProxyForceMotionType mt, ProxyForceFieldMotion oldMotion, ProxyForceFieldMotion newMotion)
{
var newPose = mt.TrimPoseUpdate(oldMotion.location, newMotion.location);
var ans = newMotion;
ans.location = newPose;
return(ans);
}
