/// <summary>Get the tangent of the curve at a point along the path.</summary>
/// <param name="pos">Postion along the path. Need not be normalized.</param>
/// <returns>World-space direction of the path tangent.
/// Length of the vector represents the tangent strength</returns>
public override Vector3 EvaluateTangent(float pos)
{
Vector3 result = new Vector3();
if (Waypoints.Length == 0)
{
result = transform.rotation * Vector3.forward;
}
else
{
int indexA, indexB;
pos = GetBoundingIndices(pos, out indexA, out indexB);
if (indexA == indexB)
{
result = Waypoints[indexA].Tangent;
}
else
{
Waypoint wpA = Waypoints[indexA];
Waypoint wpB = Waypoints[indexB];
result = ExtSpline.BezierTangent3(pos - indexA,
Waypoints[indexA].Position, wpA.Position + wpA.Tangent,
wpB.Position - wpB.Tangent, wpB.Position);
}
}
return(transform.TransformDirection(result));
}
/// <summary>Get a worldspace position of a point along the path</summary>
/// <param name="pos">Postion along the path. Need not be normalized.</param>
/// <returns>World-space position of the point along at path at pos</returns>
public override Vector3 EvaluatePosition(float pos)
{
Vector3 result = new Vector3();
if (Waypoints.Length == 0)
{
result = transform.position;
}
else
{
int indexA, indexB;
pos = GetBoundingIndices(pos, out indexA, out indexB);
if (indexA == indexB)
{
result = Waypoints[indexA].Position;
}
else
{
// interpolate
Waypoint wpA = Waypoints[indexA];
Waypoint wpB = Waypoints[indexB];
result = ExtSpline.Bezier3(pos - indexA,
Waypoints[indexA].Position, wpA.Position + wpA.Tangent,
wpB.Position - wpB.Tangent, wpB.Position);
}
}
return(transform.TransformPoint(result));
}
/// <summary>Get the orientation the curve at a point along the path.</summary>
/// <param name="pos">Position along the path. Need not be normalized.</param>
/// <returns>World-space orientation of the path, as defined by tangent, up, and roll.</returns>
public override Quaternion EvaluateOrientation(float pos)
{
Quaternion result = transform.rotation;
if (Waypoints.Length > 0)
{
float roll = 0;
int indexA, indexB;
pos = GetBoundingIndices(pos, out indexA, out indexB);
if (indexA == indexB)
{
roll = Waypoints[indexA].Roll;
}
else
{
UpdateControlPoints();
roll = ExtSpline.Bezier1(pos - indexA,
Waypoints[indexA].Roll, m_ControlPoints1[indexA].Roll,
m_ControlPoints2[indexA].Roll, Waypoints[indexB].Roll);
}
Vector3 fwd = EvaluateTangent(pos);
if (!fwd.AlmostZero())
{
Vector3 up = transform.rotation * Vector3.up;
Quaternion q = Quaternion.LookRotation(fwd, up);
result = q * Quaternion.AngleAxis(roll, Vector3.forward);
}
}
return(result);
}
protected void UpdateControlPoints()
{
int numPoints = (Waypoints == null) ? 0 : Waypoints.Length;
if (numPoints > 1 &&
(Looped != m_IsLoopedCache ||
m_ControlPoints1 == null || m_ControlPoints1.Length != numPoints ||
m_ControlPoints2 == null || m_ControlPoints2.Length != numPoints))
{
Vector4[] p1 = new Vector4[numPoints];
Vector4[] p2 = new Vector4[numPoints];
Vector4[] K = new Vector4[numPoints];
for (int i = 0; i < numPoints; ++i)
{
K[i] = Waypoints[i].AsVector4;
}
if (Looped)
{
ExtSpline.ComputeSmoothControlPointsLooped(ref K, ref p1, ref p2);
}
else
{
ExtSpline.ComputeSmoothControlPoints(ref K, ref p1, ref p2);
}
m_ControlPoints1 = new Waypoint[numPoints];
m_ControlPoints2 = new Waypoint[numPoints];
for (int i = 0; i < numPoints; ++i)
{
m_ControlPoints1[i] = Waypoint.FromVector4(p1[i]);
m_ControlPoints2[i] = Waypoint.FromVector4(p2[i]);
}
m_IsLoopedCache = Looped;
}
}
/// <summary>Get the tangent of the curve at a point along the path.</summary>
/// <param name="pos">Position along the path. Need not be normalized.</param>
/// <returns>World-space direction of the path tangent.
/// Length of the vector represents the tangent strength</returns>
public override Vector3 EvaluateTangent(float pos)
{
Vector3 result = transform.rotation * Vector3.forward;
if (Waypoints.Length > 1)
{
UpdateControlPoints();
int indexA, indexB;
pos = GetBoundingIndices(pos, out indexA, out indexB);
if (!Looped && indexA == Waypoints.Length - 1)
{
--indexA;
}
result = ExtSpline.BezierTangent3(pos - indexA,
Waypoints[indexA].Position, m_ControlPoints1[indexA].Position,
m_ControlPoints2[indexA].Position, Waypoints[indexB].Position);
}
return(transform.TransformDirection(result));
}
/// <summary>Get a worldspace position of a point along the path</summary>
/// <param name="pos">Position along the path. Need not be normalized.</param>
/// <returns>World-space position of the point along at path at pos</returns>
public override Vector3 EvaluatePosition(float pos)
{
Vector3 result = Vector3.zero;
if (Waypoints.Length > 0)
{
UpdateControlPoints();
int indexA, indexB;
pos = GetBoundingIndices(pos, out indexA, out indexB);
if (indexA == indexB)
{
result = Waypoints[indexA].Position;
}
else
{
result = ExtSpline.Bezier3(pos - indexA,
Waypoints[indexA].Position, m_ControlPoints1[indexA].Position,
m_ControlPoints2[indexA].Position, Waypoints[indexB].Position);
}
}
return(transform.TransformPoint(result));
}
