110 lines
3.7 KiB
C#
110 lines
3.7 KiB
C#
using UnityEngine;
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namespace WSMGameStudio.Splines
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{
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/// <summary>
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/// Bezier curve used in spline
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/// </summary>
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public static class Bezier
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{
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/// <summary>
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/// Get bezier point between three control points (QUADRATIC BEZIER)
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/// </summary>
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/// <param name="p0"></param>
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/// <param name="p1"></param>
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/// <param name="p2"></param>
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/// <param name="t"></param>
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/// <returns></returns>
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public static Vector3 GetPoint(Vector3 p0, Vector3 p1, Vector3 p2, float t)
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{
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t = Mathf.Clamp01(t);
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float oneMinusT = 1f - t;
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return
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oneMinusT * oneMinusT * p0 +
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2f * oneMinusT * t * p1 +
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t * t * p2;
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}
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/// <summary>
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/// Gets beziers first derivative (QUADRATIC BEZIER)
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/// </summary>
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/// <param name="p0"></param>
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/// <param name="p1"></param>
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/// <param name="p2"></param>
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/// <param name="t"></param>
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/// <returns></returns>
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public static Vector3 GetFirstDerivative(Vector3 p0, Vector3 p1, Vector3 p2, float t)
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{
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return
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2f * (1f - t) * (p1 - p0) +
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2f * t * (p2 - p1);
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}
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/// <summary>
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/// Get bezier point between four control points (CUBIC BEZIER)
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/// </summary>
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/// <param name="p0"></param>
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/// <param name="p1"></param>
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/// <param name="p2"></param>
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/// <param name="p3"></param>
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/// <param name="t"></param>
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/// <returns></returns>
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public static Vector3 GetPoint(Vector3 p0, Vector3 p1, Vector3 p2, Vector3 p3, float t)
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{
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t = Mathf.Clamp01(t);
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float oneMinusT = 1f - t;
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return
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oneMinusT * oneMinusT * oneMinusT * p0 +
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3f * oneMinusT * oneMinusT * t * p1 +
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3f * oneMinusT * t * t * p2 +
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t * t * t * p3;
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}
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/// <summary>
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/// Gets beziers first derivative (CUBIC BEZIER)
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/// </summary>
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/// <param name="p0"></param>
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/// <param name="p1"></param>
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/// <param name="p2"></param>
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/// <param name="p3"></param>
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/// <param name="t"></param>
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/// <returns></returns>
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public static Vector3 GetFirstDerivative(Vector3 p0, Vector3 p1, Vector3 p2, Vector3 p3, float t)
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{
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t = Mathf.Clamp01(t);
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float oneMinusT = 1f - t;
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return
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3f * oneMinusT * oneMinusT * (p1 - p0) +
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6f * oneMinusT * t * (p2 - p1) +
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3f * t * t * (p3 - p2);
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}
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/// <summary>
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/// Get bezier point rotation (CUBIC BEZIER)
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/// </summary>
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/// <param name="r0"></param>
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/// <param name="r1"></param>
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/// <param name="r2"></param>
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/// <param name="r3"></param>
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/// <param name="t"></param>
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/// <returns></returns>
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public static Quaternion GetPointRotation(Quaternion r0, Quaternion r1, Quaternion r2, Quaternion r3, float t)
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{
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Vector4 p0 = Convert.QuaternionToVector4(r0);
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Vector4 p1 = Convert.QuaternionToVector4(r1);
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Vector4 p2 = Convert.QuaternionToVector4(r2);
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Vector4 p3 = Convert.QuaternionToVector4(r3);
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Vector4 rotation;
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t = Mathf.Clamp01(t);
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float oneMinusT = 1f - t;
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rotation = oneMinusT * oneMinusT * oneMinusT * p0 +
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3f * oneMinusT * oneMinusT * t * p1 +
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3f * oneMinusT * t * t * p2 +
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t * t * t * p3;
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return Convert.Vector4ToQuaternion(rotation);
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}
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}
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}
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