public static void DrawSelector(Waypoint keyframe, bool showTime = false)
{
Vector3 position = GlobalTransform.Transfomed(keyframe.Position);
float size = 0.025f;
float hitboxSize = 1.5f * size;
// -- DOT -- //
Handles.color = Color.white;
Handles.SphereHandleCap(0, position, Quaternion.identity, size, EventType.Repaint);
// -- SELECTION -- //
if (CustomHandles.SelectableButton(position, hitboxSize, Color.white))
{
Selection.activeObject = keyframe;
targetPoint = 0;
}
// -- MOVEMENT -- //
FreeMove(keyframe, position, hitboxSize, CustomHandles.NullCap, keyframe.SetPosition);
// -- LABEL -- //
if (showTime)
{
string timestamp = $"{keyframe.time.ToString("0.0")} s";
Handles.Label(position + LabelOffset, timestamp, CustomGUI.LabelStyle);
}
}
protected override void OnDrawScene(SceneView scene)
{
Waypoint keyframe = Target;
Crazyflie drone = keyframe.Drone;
CrazyflieEditor.Draw(drone);
Vector3 position = GlobalTransform.Transfomed(keyframe.Position);
if (keyframe.JointType != JointType.Linear)
{
DrawTangent(keyframe, false);
DrawTangent(keyframe, true);
}
if (targetPoint == 0)
{
CustomHandles.DrawCircle(position, 0.0375f, Color.yellow);
MoveHandle(keyframe, position, 0.06f, 0.045f, keyframe.SetPosition);
}
else
{
CustomHandles.DrawCircle(position, 0.0375f, Color.white);
}
if (Event.current.type == EventType.KeyDown && Event.current.keyCode == KeyCode.Delete)
{
drone.RemoveWaypoint(Target);
}
// -- GUI -- //
DrawGUI(keyframe);
}
protected void DrawTangent(Waypoint keyframe, bool invert)
{
Vector3 position = GlobalTransform.Transfomed(keyframe.Position);
Vector3 tangentPosition = GlobalTransform.Transfomed(invert ? keyframe.InverseWorldTangent : keyframe.WorldTangent);
Action <Vector3> applyFunction = invert ? (Action <Vector3>)keyframe.SetInverseTangent : keyframe.SetTangent;
Handles.color = Color.white;
Handles.SphereHandleCap(0, tangentPosition, Quaternion.identity, 0.01f, EventType.Repaint);
Handles.color = Palette.Translucent;
Handles.DrawLine(position, tangentPosition);
if (CustomHandles.SelectableButton(tangentPosition, 0.015f, Color.white))
{
targetPoint = (invert ? 2 : 1);
}
// Circle
FreeMove(keyframe, tangentPosition, 0.015f, CustomHandles.CircleCap, applyFunction);
// Selected
if ((!invert && targetPoint == 1) || (invert && targetPoint == 2))
{
CustomHandles.DrawCircle(tangentPosition, 0.015f, Color.yellow);
MoveHandle(keyframe, tangentPosition, 0.04f, 0.025f, applyFunction);
}
}
public void ApplyGlobalTransform()
{
List <Waypoint> waypoints = this.Waypoints;
if (waypoints == null)
{
return;
}
Undo.RecordObjects(waypoints.ToArray(), "Apply Global Transform");
foreach (Waypoint waypoint in waypoints)
{
Vector3 newPosition = GlobalTransform.Transfomed(waypoint.Position);
Vector3 newTangent = GlobalTransform.Transfomed(waypoint.WorldTangent);
waypoint.SetPosition(newPosition);
waypoint.SetTangent(newTangent);
}
}
public static void DrawWaypoints(List <Waypoint> waypoints)
{
foreach (Waypoint waypoint in waypoints)
{
WaypointEditor.DrawSelector(waypoint, showTimestamps);
}
if (showEndpoints)
{
Waypoint firstWaypoint = waypoints[0];
Waypoint lastWaypoint = waypoints[waypoints.Count - 1];
Vector3 endOffset = (waypoints.Count < 2) ? AlternateLabelOffset : LabelOffset;
Handles.Label(GlobalTransform.Transfomed(firstWaypoint.Position) + LabelOffset, "START", CustomGUI.TitleStyle);
Handles.Label(GlobalTransform.Transfomed(lastWaypoint.Position) + endOffset, "END", CustomGUI.TitleStyle);
}
}
public static void DrawBezierPath(List <Waypoint> waypoints, Color pathColor, float thiccness = 3.0f)
{
int numKeyframes = waypoints.Count - 1;
for (int i = 0; i < numKeyframes; i++)
{
Waypoint currentKeyframe = waypoints[i];
Waypoint nextKeyframe = waypoints[i + 1];
bool linearStart = (currentKeyframe.JointType == JointType.Linear);
bool linearEnd = (nextKeyframe.JointType == JointType.Linear);
Vector3 startPos = GlobalTransform.Transfomed(currentKeyframe.Position);
Vector3 endPos = GlobalTransform.Transfomed(nextKeyframe.Position);
Vector3 startTangent = linearStart ? startPos : GlobalTransform.Transfomed(currentKeyframe.WorldTangent);
Vector3 endTangent = linearEnd ? endPos : GlobalTransform.Transfomed(nextKeyframe.InverseWorldTangent);
Handles.DrawBezier(startPos, endPos, startTangent, endTangent, pathColor, null, thiccness);
}
}
private static Vector3 CalculateTangent(Waypoint currentKeyframe, Waypoint nextKeyframe, float interpolation, bool normalize = false)
{
bool linearStart = (currentKeyframe.JointType == JointType.Linear);
bool linearEnd = (nextKeyframe.JointType == JointType.Linear);
Vector3 startPos = GlobalTransform.Transfomed(currentKeyframe.Position);
Vector3 endPos = GlobalTransform.Transfomed(nextKeyframe.Position);
Vector3 startTangent = linearStart ? startPos : GlobalTransform.Transfomed(currentKeyframe.WorldTangent);
Vector3 endTangent = linearEnd ? endPos : GlobalTransform.Transfomed(nextKeyframe.InverseWorldTangent);
// dP(t) / dt = (-3(1-t)^2 * P0) + (3(1-t)^2 * P1) + (-6t(1-t) * P1) + (-3t^2 * P2) + (6t(1-t) * P2) + (3t^2 * P3)
float inverse = 1.0f - interpolation;
float C0 = -3.0f * Mathf.Pow(inverse, 2.0f);
float C1 = 3.0f * Mathf.Pow(inverse, 2.0f);
float C2 = -6.0f * inverse * interpolation;
float C3 = -3.0f * Mathf.Pow(interpolation, 2.0f);
float C4 = 6.0f * interpolation * inverse;
float C5 = 3.0f * Mathf.Pow(interpolation, 2.0f);
Vector3 result = (C0 * startPos) + ((C1 + C2) * startTangent) + ((C3 + C4) * endTangent) + (C5 * endPos);
return(normalize ? result.normalized : result);
}
public static Vector3 GetPosition(List <Waypoint> keyframes, double time, Vector3 defaultPosition)
{
Vector3 position = FindPosition(keyframes, time, defaultPosition);
return(GlobalTransform.Transfomed(position));
}
