89 lines
2.9 KiB
C#
89 lines
2.9 KiB
C#
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using UnityEngine;
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using VRSDK.Collections;
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namespace VRSDK
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{
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public class HistoryBuffer : MonoBehaviour
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{
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[SerializeField] private int bufferSize = 10;
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private Buffer<Vector3> velocityHistory;
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private Buffer<Vector3> angularVelocityHistory;
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private Buffer<Vector3> localPositionHistory;
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private Buffer<Vector3> positionHistory;
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private Buffer<Quaternion> rotationHistory;
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private Vector3 lastLocalPosition = Vector3.zero;
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public Buffer<Vector3> PositionHistory { get { return positionHistory; } }
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public Buffer<Vector3> LocalPositionHistory { get { return localPositionHistory; } }
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public Buffer<Vector3> AngularVelocityHistory { get { return angularVelocityHistory; } }
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public Buffer<Quaternion> RotationHistory { get { return rotationHistory; } }
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public Buffer<Vector3> VelocityHistory { get { return velocityHistory; } }
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private void Awake()
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{
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velocityHistory = new Buffer<Vector3>( bufferSize );
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angularVelocityHistory = new Buffer<Vector3>( bufferSize );
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localPositionHistory = new Buffer<Vector3>( bufferSize );
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positionHistory = new Buffer<Vector3>( bufferSize );
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rotationHistory = new Buffer<Quaternion>(bufferSize);
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lastLocalPosition = transform.localPosition;
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}
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private void Update()
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{
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UpdateVelocityHistory();
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UpdateAngularVelocityHistory();
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UpdateLocalPositionHistory();
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UpdatePositionHistory();
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UpdateRotationHistory();
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}
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private void UpdateVelocityHistory()
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{
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velocityHistory.Add( (lastLocalPosition - transform.localPosition) / Time.deltaTime );
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lastLocalPosition = transform.localPosition;
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}
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private void UpdateRotationHistory()
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{
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rotationHistory.Add( transform.rotation );
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}
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private void UpdateAngularVelocityHistory()
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{
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if (rotationHistory.Count < 2)
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return;
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float delta = Time.deltaTime;
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float angleDegrees = 0.0f;
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Vector3 unitAxis = Vector3.zero;
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Quaternion rotation = Quaternion.identity;
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rotation = ( rotationHistory[rotationHistory.Count - 1] ) * Quaternion.Inverse( rotationHistory[rotationHistory.Count - 2] );
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rotation.ToAngleAxis( out angleDegrees, out unitAxis );
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Vector3 angular = unitAxis * ( ( angleDegrees * Mathf.Deg2Rad ) / delta );
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angularVelocityHistory.Add( angular);
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}
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private void UpdateLocalPositionHistory()
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{
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localPositionHistory.Add(transform.localPosition);
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}
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private void UpdatePositionHistory()
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{
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positionHistory.Add( transform.position );
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}
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}
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}
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