public static InterpolationTransform GetTransform_FrenetNormal(_Curve curve, float t)
{
//Position on the curve at point t
Vector3 pos = curve.GetPosition(t);
//Forward direction (tangent) on the curve at point t
Vector3 forwardDir = curve.GetTangent(t);
Vector3 secondDerivativeVec = curve.GetSecondDerivativeVec(t);
MyQuaternion orientation = InterpolationTransform.GetOrientation_FrenetNormal(forwardDir, secondDerivativeVec);
InterpolationTransform trans = new InterpolationTransform(pos, orientation);
return(trans);
}
//
// Alternative 1.5. Similar to Alternative 1, but we know the up vector at both the start and end position
//
public static InterpolationTransform GetTransform_InterpolateBetweenUpVectors(
_Curve curve, float t, Vector3 upRefStart, Vector3 upRefEnd)
{
//Position on the curve at point t
Vector3 pos = curve.GetPosition(t);
//Forward direction (tangent) on the curve at point t
Vector3 forwardDir = curve.GetTangent(t);
//Interpolate between the start and end up vector to get an up vector at a t position
Vector3 interpolatedUpDir = Vector3.Normalize(BezierLinear.GetPosition(upRefStart, upRefEnd, t));
MyQuaternion orientation = InterpolationTransform.GetOrientation_UpRef(forwardDir, interpolatedUpDir);
InterpolationTransform trans = new InterpolationTransform(pos, orientation);
return(trans);
}
public static InterpolationTransform GetTransform_UpRef(_Curve curve, float t, Vector3 upRef)
{
//Position on the curve at point t
Vector3 pos = curve.GetPosition(t);
//Forward direction (tangent) on the curve at point t
Vector3 forwardDir = curve.GetTangent(t);
//A simple way to get the other directions is to use LookRotation with just forward dir as parameter
//Then the up direction will always be the world up direction, and it calculates the right direction
//This idea is not working for all possible curve orientations
//MyQuaternion orientation = new MyQuaternion(forwardDir);
//Your own reference up vector
MyQuaternion orientation = InterpolationTransform.GetOrientation_UpRef(forwardDir, upRef);
InterpolationTransform trans = new InterpolationTransform(pos, orientation);
return(trans);
}
//Not defined for a single point, you always need a previous transform
//public static InterpolationTransform InterpolationTransform GetTransform_RotationMinimisingFrame()
//{
//}
public static List <InterpolationTransform> GetTransforms_RotationMinimisingFrame(_Curve curve, List <float> tValues, Vector3 upRef)
{
List <InterpolationTransform> transforms = new List <InterpolationTransform>();
for (int i = 0; i < tValues.Count; i++)
{
float t = tValues[i];
//Position on the curve at point t
Vector3 position = curve.GetPosition(t);
//Forward direction (tangent) on the curve at point t
Vector3 tangent = curve.GetTangent(t);
//At first pos we dont have a previous transform
if (i == 0)
{
//Just use one of the other algorithms available to generate a transform at a single position
MyQuaternion orientation = InterpolationTransform.GetOrientation_UpRef(tangent, upRef);
InterpolationTransform transform = new InterpolationTransform(position, orientation);
transforms.Add(transform);
}
else
{
//To calculate the orientation for this point, we need data from the previous point on the curve
InterpolationTransform previousTransform = transforms[i - 1];
MyQuaternion orientation = InterpolationTransform.GetOrientation_RotationFrame(position, tangent, previousTransform);
InterpolationTransform transform = new InterpolationTransform(position, orientation);
transforms.Add(transform);
}
}
return(transforms);
}