619 lines
27 KiB
C#
619 lines
27 KiB
C#
namespace Dreamteck.Splines
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{
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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[System.Serializable]
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public class SampleCollection
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{
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[HideInInspector]
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[UnityEngine.Serialization.FormerlySerializedAs("samples")]
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public SplineSample[] samples = new SplineSample[0];
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public int length
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{
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get { return samples.Length; }
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}
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public int[] optimizedIndices = new int[0];
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bool hasSamples
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{
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get { return samples.Length > 0; }
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}
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public SplineComputer.SampleMode sampleMode = SplineComputer.SampleMode.Default;
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private SplineSample _workSample = new SplineSample();
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public SampleCollection()
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{
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}
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public SampleCollection(SampleCollection input)
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{
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samples = input.samples;
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optimizedIndices = input.optimizedIndices;
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sampleMode = input.sampleMode;
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}
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public int GetClippedSampleCount(double clipFrom, double clipTo, out int startIndex, out int endIndex)
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{
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startIndex = endIndex = 0;
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if (sampleMode == SplineComputer.SampleMode.Default)
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{
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startIndex = DMath.FloorInt((samples.Length - 1) * clipFrom);
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endIndex = DMath.CeilInt((samples.Length - 1) * clipTo);
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}
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else
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{
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double clipFromLerp = 0.0, clipToLerp = 0.0;
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GetSamplingValues(clipFrom, out startIndex, out clipFromLerp);
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GetSamplingValues(clipTo, out endIndex, out clipToLerp);
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if (clipToLerp > 0.0 && endIndex < samples.Length - 1) endIndex++;
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}
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if (clipTo < clipFrom) //Handle looping segments
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{
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int toSamples = endIndex + 1;
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int fromSamples = samples.Length - startIndex;
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return toSamples + fromSamples;
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}
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return endIndex - startIndex + 1;
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}
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public void GetSamplingValues(double percent, out int sampleIndex, out double lerp)
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{
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lerp = 0.0;
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if (sampleMode == SplineComputer.SampleMode.Optimized)
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{
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double indexValue = percent * (optimizedIndices.Length - 1);
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int index = DMath.FloorInt(indexValue);
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sampleIndex = optimizedIndices[index];
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double lerpPercent = 0.0;
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if (index < optimizedIndices.Length - 1)
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{
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//Percent 0-1 between the sampleIndex and the next sampleIndex
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double indexLerp = indexValue - index;
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double sampleIndexPercent = (double)index / (optimizedIndices.Length - 1);
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double nextSampleIndexPercent = (double)(index + 1) / (optimizedIndices.Length - 1);
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//Percent 0-1 of the sample between the sampleIndices' percents
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lerpPercent = DMath.Lerp(sampleIndexPercent, nextSampleIndexPercent, indexLerp);
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}
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if (sampleIndex < samples.Length - 1)
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{
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lerp = DMath.InverseLerp(samples[sampleIndex].percent, samples[sampleIndex + 1].percent, lerpPercent);
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}
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return;
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}
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sampleIndex = DMath.FloorInt(percent * (samples.Length - 1));
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lerp = (samples.Length - 1) * percent - sampleIndex;
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}
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/// <summary>
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/// Same as Spline.EvaluatePosition but the result is transformed by the computer's transform
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/// </summary>
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/// <param name="percent">Evaluation percent</param>
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/// <param name="mode">Mode to use the method in. Cached uses the cached samples while Calculate is more accurate but heavier</param>
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/// <returns></returns>
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public Vector3 EvaluatePosition(double percent)
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{
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if (!hasSamples) return Vector3.zero;
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int index;
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double lerp;
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GetSamplingValues(percent, out index, out lerp);
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if (lerp > 0.0)
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{
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return Vector3.Lerp(samples[index].position, samples[index + 1].position, (float)lerp);
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}
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return samples[index].position;
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}
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/// <summary>
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/// Same as Spline.Evaluate but the result is transformed by the computer's transform
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/// </summary>
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/// <param name="percent">Evaluation percent</param>
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/// <param name="mode">Mode to use the method in. Cached uses the cached samples while Calculate is more accurate but heavier</param>
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/// <returns></returns>
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public SplineSample Evaluate(double percent)
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{
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SplineSample result = new SplineSample();
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Evaluate(percent, ref result);
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return result;
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}
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/// <summary>
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/// Evaluates the sample collection and transforms the result by the <see cref="localToWorldMatrix"/>
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/// </summary>
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/// <param name="result"></param>
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/// <param name="percent"></param>
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public void Evaluate(double percent, ref SplineSample result)
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{
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if (!hasSamples)
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{
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result = new SplineSample();
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return;
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}
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int index;
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double lerp;
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GetSamplingValues(percent, out index, out lerp);
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if (lerp > 0.0)
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{
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SplineSample.Lerp(ref samples[index], ref samples[index + 1], lerp, ref result);
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}
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else
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{
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result.FastCopy(ref samples[index]);
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}
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}
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/// <summary>
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/// Evaluates the sample collection and transforms the results by the <see cref="localToWorldMatrix"/>
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/// </summary>
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/// <param name="from">Start position [0-1]</param>
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/// <param name="to">Target position [from-1]</param>
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/// <returns></returns>
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public void Evaluate(ref SplineSample[] results, double from = 0.0, double to = 1.0)
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{
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if (!hasSamples)
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{
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results = new SplineSample[0];
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return;
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}
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Spline.FormatFromTo(ref from, ref to);
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int fromIndex, toIndex;
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double lerp;
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GetSamplingValues(from, out fromIndex, out lerp);
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GetSamplingValues(to, out toIndex, out lerp);
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if (lerp > 0.0 && toIndex < samples.Length - 1)
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{
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toIndex++;
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}
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int clippedIterations = toIndex - fromIndex + 1;
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if (results == null)
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{
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results = new SplineSample[clippedIterations];
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}
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else if (results.Length != clippedIterations)
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{
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results = new SplineSample[clippedIterations];
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}
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results[0] = Evaluate(from);
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results[results.Length - 1] = Evaluate(to);
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for (int i = 1; i < results.Length - 1; i++)
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{
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results[i].FastCopy(ref samples[i + fromIndex]);
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}
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}
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/// <summary>
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/// Same as Spline.EvaluatePositions but the results are transformed by the computer's transform
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/// </summary>
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/// <param name="from">Start position [0-1]</param>
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/// <param name="to">Target position [from-1]</param>
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/// <returns></returns>
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public void EvaluatePositions(ref Vector3[] positions, double from = 0.0, double to = 1.0)
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{
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if (!hasSamples)
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{
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positions = new Vector3[0];
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return;
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}
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Spline.FormatFromTo(ref from, ref to);
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int fromIndex, toIndex;
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double lerp;
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GetSamplingValues(from, out fromIndex, out lerp);
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GetSamplingValues(to, out toIndex, out lerp);
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if (lerp > 0.0 && toIndex < samples.Length - 1)
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{
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toIndex++;
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}
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int clippedIterations = toIndex - fromIndex + 1;
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if (positions == null)
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{
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positions = new Vector3[clippedIterations];
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}
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else if (positions.Length != clippedIterations)
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{
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positions = new Vector3[clippedIterations];
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}
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positions[0] = EvaluatePosition(from);
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positions[positions.Length - 1] = EvaluatePosition(to);
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for (int i = 1; i < positions.Length - 1; i++)
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{
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positions[i] = samples[i + fromIndex].position;
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}
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}
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/// <summary>
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/// Returns the percent from the spline at a given distance from the start point
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/// </summary>
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/// <param name="start">The start point</param>
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/// <param name="distance">The distance to travel</param>
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/// <param name="direction">The direction towards which to move</param>
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/// <returns></returns>
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public double Travel(double start, float distance, Spline.Direction direction, out float moved, double clipFrom = 0.0, double clipTo = 1.0)
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{
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moved = 0f;
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if (!hasSamples) return 0.0;
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if (direction == Spline.Direction.Forward && start >= 1.0) return clipTo;
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else if (direction == Spline.Direction.Backward && start <= 0.0) return clipFrom;
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double lastPercent = start;
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if (distance == 0f) return lastPercent;
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Vector3 lastPos = EvaluatePosition(start);
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int sampleIndex;
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double lerp;
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GetSamplingValues(lastPercent, out sampleIndex, out lerp);
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if (direction == Spline.Direction.Forward && lerp > 0.0) sampleIndex++;
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float lastDistance = 0f;
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int minIndex = 0;
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int maxIndex = samples.Length - 1;
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bool samplesAreLooped = clipTo < clipFrom;
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if (samplesAreLooped)
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{
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GetSamplingValues(clipFrom, out minIndex, out lerp);
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GetSamplingValues(clipTo, out maxIndex, out lerp);
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if (lerp > 0.0) maxIndex++;
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}
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while (moved < distance)
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{
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Vector3 transformedPos = samples[sampleIndex].position;
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lastDistance = Vector3.Distance(transformedPos, lastPos);
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moved += lastDistance;
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if (moved >= distance) break;
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lastPos = transformedPos;
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lastPercent = samples[sampleIndex].percent;
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if (direction == Spline.Direction.Forward)
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{
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if (sampleIndex == samples.Length - 1)
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{
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if (samplesAreLooped)
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{
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lastPos = samples[0].position;
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lastPercent = samples[0].percent;
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sampleIndex = 1;
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}
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else break;
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}
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if (samplesAreLooped && sampleIndex == maxIndex) break;
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sampleIndex++;
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}
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else
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{
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if (sampleIndex == 0)
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{
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if (samplesAreLooped)
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{
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lastPos = samples[samples.Length - 1].position;
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lastPercent = samples[samples.Length - 1].percent;
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sampleIndex = samples.Length - 2;
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}
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else break;
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}
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if (samplesAreLooped && sampleIndex == minIndex) break;
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sampleIndex--;
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}
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}
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float moveExcess = 0f;
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if (moved > distance)
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{
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moveExcess = moved - distance;
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}
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double lerpPercent = 0.0;
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if(lastDistance > 0.0)
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{
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lerpPercent = moveExcess / lastDistance;
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}
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double p = DMath.Lerp(lastPercent, samples[sampleIndex].percent, 1f - lerpPercent);
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moved -= moveExcess;
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return p;
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}
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/// <summary>
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/// Returns the percent from the spline at a given distance from the start point while applying a local <paramref name="offset"/> to each sample
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/// The offset is multiplied by the sample sizes
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/// </summary>
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/// <param name="start">The start point</param>
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/// /// <param name="distance">The distance to travel</param>
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/// <param name="direction">The direction towards which to move</param>
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/// <returns></returns>
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public double TravelWithOffset(double start, float distance, Spline.Direction direction, Vector3 offset, out float moved, double clipFrom = 0.0, double clipTo = 1.0)
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{
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moved = 0f;
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if (!hasSamples) return 0.0;
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if (direction == Spline.Direction.Forward && start >= 1.0) return clipTo;
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else if (direction == Spline.Direction.Backward && start <= 0.0) return clipFrom;
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double lastPercent = start;
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if (distance == 0f) return lastPercent;
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Evaluate(start, ref _workSample);
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Vector3 lastPos = _workSample.position + _workSample.up * (offset.y * _workSample.size) + _workSample.right * (offset.x * _workSample.size) + _workSample.forward * (offset.z * _workSample.size);
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int sampleIndex;
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double lerp;
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GetSamplingValues(lastPercent, out sampleIndex, out lerp);
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if (direction == Spline.Direction.Forward && lerp > 0.0) sampleIndex++;
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float lastDistance = 0f;
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int minIndex = 0;
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int maxIndex = length - 1;
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bool samplesAreLooped = clipTo < clipFrom;
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if (samplesAreLooped)
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{
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GetSamplingValues(clipFrom, out minIndex, out lerp);
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GetSamplingValues(clipTo, out maxIndex, out lerp);
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if (lerp > 0.0) maxIndex++;
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}
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while (moved < distance)
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{
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Vector3 newPos = samples[sampleIndex].position +
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samples[sampleIndex].up * (offset.y * samples[sampleIndex].size) +
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samples[sampleIndex].right * (offset.x * samples[sampleIndex].size) +
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samples[sampleIndex].forward * (offset.z * samples[sampleIndex].size);
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lastDistance = Vector3.Distance(newPos, lastPos);
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moved += lastDistance;
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if (moved >= distance)
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{
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break;
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}
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lastPos = newPos;
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lastPercent = samples[sampleIndex].percent;
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if (direction == Spline.Direction.Forward)
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{
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if (sampleIndex == length - 1)
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{
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if (samplesAreLooped)
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{
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lastPos = samples[0].position +
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samples[0].up * (offset.y * samples[0].size) +
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samples[0].right * (offset.x * samples[0].size) +
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samples[0].forward * (offset.z * samples[0].size);
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lastPercent = samples[0].percent;
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sampleIndex = 1;
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}
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else break;
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}
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if (samplesAreLooped && sampleIndex == maxIndex) break;
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sampleIndex++;
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}
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else
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{
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if (sampleIndex == 0)
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{
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if (samplesAreLooped)
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{
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int lastIndex = samples.Length - 1;
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lastPos = samples[lastIndex].position +
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samples[lastIndex].up * (offset.y * samples[lastIndex].size) +
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samples[lastIndex].right * (offset.x * samples[lastIndex].size) +
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samples[lastIndex].forward * (offset.z * samples[lastIndex].size);
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lastPercent = samples[lastIndex].percent;
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sampleIndex = samples.Length - 2;
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}
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else break;
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}
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if (samplesAreLooped && sampleIndex == minIndex) break;
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sampleIndex--;
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}
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}
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float moveExcess = 0f;
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if (moved > distance)
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{
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moveExcess = moved - distance;
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}
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double p = DMath.Lerp(lastPercent, samples[sampleIndex].percent, 1f - moveExcess / lastDistance);
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moved -= moveExcess;
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return p;
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}
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public double Travel(double start, float distance, Spline.Direction direction = Spline.Direction.Forward)
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{
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float moved;
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return Travel(start, distance, direction, out moved);
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}
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/// <summary>
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/// Same as Spline.Project but the point is transformed by the computer's transform.
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/// </summary>
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/// <param name="position">Point in space</param>
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/// <param name="subdivide">Subdivisions default: 4</param>
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/// <param name="from">Sample from [0-1] default: 0f</param>
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/// <param name="to">Sample to [0-1] default: 1f</param>
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/// <param name="mode">Mode to use the method in. Cached uses the cached samples while Calculate is more accurate but heavier</param>
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/// <param name="subdivisions">Subdivisions for the Calculate mode. Don't assign if not using Calculated mode.</param>
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/// <returns></returns>
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public void Project(Vector3 position, int controlPointCount, ref SplineSample result, double from = 0.0, double to = 1.0)
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{
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if (!hasSamples) return;
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if (samples.Length == 1)
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{
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result.FastCopy(ref samples[0]);
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return;
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}
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Spline.FormatFromTo(ref from, ref to);
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//First make a very rough sample of the from-to region
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int steps = (controlPointCount - 1) * 4; //Sampling four points per segment is enough to find the closest point range
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int step = samples.Length / steps;
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if (step < 1) step = 1;
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float minDist = (position - samples[0].position).sqrMagnitude;
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int fromIndex = 0;
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int toIndex = samples.Length - 1;
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double lerp;
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if (from != 0.0) GetSamplingValues(from, out fromIndex, out lerp);
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if (to != 1.0)
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{
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GetSamplingValues(to, out toIndex, out lerp);
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if (lerp > 0.0 && toIndex < samples.Length - 1) toIndex++;
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}
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int checkFrom = fromIndex;
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int checkTo = toIndex;
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//Find the closest point range which will be checked in detail later
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for (int i = fromIndex; i < toIndex; i += step)
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{
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if (i >= toIndex) i = toIndex-1;
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Vector3 projected = LinearAlgebraUtility.ProjectOnLine(samples[i].position, samples[Mathf.Min(i + step, toIndex)].position, position);
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float dist = (position - projected).sqrMagnitude;
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if (dist < minDist)
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{
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minDist = dist;
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checkFrom = Mathf.Max(i - step, 0);
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checkTo = Mathf.Min(i + step, samples.Length - 1);
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}
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if (i == toIndex) break;
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}
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minDist = (position - samples[checkFrom].position).sqrMagnitude;
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int index = checkFrom;
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//Find the closest result within the range
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for (int i = checkFrom + 1; i <= checkTo; i++)
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{
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float dist = (position - samples[i].position).sqrMagnitude;
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if (dist < minDist)
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{
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minDist = dist;
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index = i;
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}
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}
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//Project the point on the line between the two closest samples
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int backIndex = index - 1;
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if (backIndex < 0) backIndex = 0;
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int frontIndex = index + 1;
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if (frontIndex > samples.Length - 1) frontIndex = samples.Length - 1;
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Vector3 back = LinearAlgebraUtility.ProjectOnLine(samples[backIndex].position, samples[index].position, position);
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Vector3 front = LinearAlgebraUtility.ProjectOnLine(samples[index].position, samples[frontIndex].position, position);
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float backLength = (samples[index].position - samples[backIndex].position).magnitude;
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float frontLength = (samples[index].position - samples[frontIndex].position).magnitude;
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float backProjectDist = (back - samples[backIndex].position).magnitude;
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float frontProjectDist = (front - samples[frontIndex].position).magnitude;
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if (backIndex < index && index < frontIndex)
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{
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if ((position - back).sqrMagnitude < (position - front).sqrMagnitude)
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{
|
|
SplineSample.Lerp(ref samples[backIndex], ref samples[index], backProjectDist / backLength, ref result);
|
|
if (sampleMode == SplineComputer.SampleMode.Uniform) result.percent = DMath.Lerp(GetSamplePercent(backIndex), GetSamplePercent(index), backProjectDist / backLength);
|
|
}
|
|
else
|
|
{
|
|
SplineSample.Lerp(ref samples[frontIndex], ref samples[index], frontProjectDist / frontLength, ref result);
|
|
if (sampleMode == SplineComputer.SampleMode.Uniform) result.percent = DMath.Lerp(GetSamplePercent(frontIndex), GetSamplePercent(index), frontProjectDist / frontLength);
|
|
}
|
|
}
|
|
else if (backIndex < index)
|
|
{
|
|
SplineSample.Lerp(ref samples[backIndex], ref samples[index], backProjectDist / backLength, ref result);
|
|
if (sampleMode == SplineComputer.SampleMode.Uniform) result.percent = DMath.Lerp(GetSamplePercent(backIndex), GetSamplePercent(index), backProjectDist / backLength);
|
|
}
|
|
else
|
|
{
|
|
SplineSample.Lerp(ref samples[frontIndex], ref samples[index], frontProjectDist / frontLength, ref result);
|
|
if (sampleMode == SplineComputer.SampleMode.Uniform) result.percent = DMath.Lerp(GetSamplePercent(frontIndex), GetSamplePercent(index), frontProjectDist / frontLength);
|
|
}
|
|
|
|
if (samples.Length > 1 && from == 0.0 && to == 1.0 && result.percent < samples[1].percent) //Handle looped splines
|
|
{
|
|
Vector3 projected = LinearAlgebraUtility.ProjectOnLine(samples[samples.Length - 1].position, samples[samples.Length - 2].position, position);
|
|
if ((position - projected).sqrMagnitude < (position - result.position).sqrMagnitude)
|
|
{
|
|
double l = LinearAlgebraUtility.InverseLerp(samples[samples.Length - 1].position, samples[samples.Length - 2].position, projected);
|
|
SplineSample.Lerp(ref samples[samples.Length - 1], ref samples[samples.Length - 2], l, ref result);
|
|
if (sampleMode == SplineComputer.SampleMode.Uniform) result.percent = DMath.Lerp(GetSamplePercent(samples.Length - 1), GetSamplePercent(samples.Length - 2), l);
|
|
}
|
|
}
|
|
}
|
|
|
|
private double GetSamplePercent(int sampleIndex)
|
|
{
|
|
if (sampleMode == SplineComputer.SampleMode.Optimized)
|
|
{
|
|
return samples[optimizedIndices[sampleIndex]].percent;
|
|
}
|
|
return (double)sampleIndex / (samples.Length - 1);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Same as Spline.CalculateLength but this takes the computer's transform into account when calculating the length.
|
|
/// </summary>
|
|
/// <param name="from">Calculate from [0-1] default: 0f</param>
|
|
/// <param name="to">Calculate to [0-1] default: 1f</param>
|
|
/// <param name="resolution">Resolution [0-1] default: 1f</param>
|
|
/// <param name="address">Node address of junctions</param>
|
|
/// <returns></returns>
|
|
public float CalculateLength(double from = 0.0, double to = 1.0)
|
|
{
|
|
if (!hasSamples) return 0f;
|
|
Spline.FormatFromTo(ref from, ref to);
|
|
float length = 0f;
|
|
Vector3 lastPos = EvaluatePosition(from);
|
|
int fromIndex, toIndex;
|
|
double lerp;
|
|
GetSamplingValues(from, out fromIndex, out lerp);
|
|
GetSamplingValues(to, out toIndex, out lerp);
|
|
if (lerp > 0.0 && toIndex < this.length - 1)
|
|
{
|
|
toIndex++;
|
|
}
|
|
for (int i = fromIndex+1; i < toIndex; i++)
|
|
{
|
|
Vector3 currentPos = samples[i].position;
|
|
length += Vector3.Distance(currentPos, lastPos);
|
|
lastPos = currentPos;
|
|
}
|
|
length += Vector3.Distance(EvaluatePosition(to), lastPos);
|
|
return length;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Calculates the length between <paramref name="from"/> and <paramref name="to"/> with applied local offset to to the samples
|
|
/// The offset is multiplied by the sample sizes
|
|
/// </summary>
|
|
/// <param name="from"></param>
|
|
/// <param name="to"></param>
|
|
/// <param name="offset"></param>
|
|
/// <returns></returns>
|
|
public float CalculateLengthWithOffset(Vector3 offset, double from = 0.0, double to = 1.0)
|
|
{
|
|
if (!hasSamples) return 0f;
|
|
Spline.FormatFromTo(ref from, ref to);
|
|
float length = 0f;
|
|
Evaluate(from, ref _workSample);
|
|
Vector3 lastPos = _workSample.position + _workSample.up * (offset.y * _workSample.size) + _workSample.right * (offset.x * _workSample.size) + _workSample.forward * (offset.z * _workSample.size);
|
|
int fromIndex, toIndex;
|
|
double lerp;
|
|
GetSamplingValues(from, out fromIndex, out lerp);
|
|
GetSamplingValues(to, out toIndex, out lerp);
|
|
|
|
if (lerp > 0.0 && toIndex < this.length - 1)
|
|
{
|
|
toIndex++;
|
|
}
|
|
|
|
for (int i = fromIndex + 1; i < toIndex; i++)
|
|
{
|
|
Vector3 newPos = samples[i].position + samples[i].up * (offset.y * samples[i].size) + samples[i].right * (offset.x * samples[i].size) + samples[i].forward * (offset.z * samples[i].size);
|
|
length += Vector3.Distance(newPos, lastPos);
|
|
lastPos = newPos;
|
|
}
|
|
|
|
Evaluate(to, ref _workSample);
|
|
_workSample.position += _workSample.up * (offset.y * _workSample.size) + _workSample.right * (offset.x * _workSample.size) + _workSample.forward * (offset.z * _workSample.size);
|
|
length += Vector3.Distance(_workSample.position, lastPos);
|
|
return length;
|
|
}
|
|
|
|
}
|
|
}
|