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Disabled ThunderSVM loading and added better interpolation.

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This commit is contained in:
Emiliana 2020-09-26 20:21:46 +02:00
parent 5abe5ba633
commit eaaf036e76
4 changed files with 270 additions and 150 deletions
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28
Unity/OpenSeeKinematicInterpolation.cs
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@ -3,6 +3,8 @@ using System.Collections;
using System.Collections.Generic;
using UnityEngine;
namespace OpenSee {
public class OpenSeeKinematicInterpolation : MonoBehaviour
{
private Vector3 lastPos;
@ -13,7 +15,7 @@ public class OpenSeeKinematicInterpolation : MonoBehaviour
private Vector3 currentPosV;
private double currentT = 0f;
private Vector3 lastRot;
private Vector3 lastRot = Vector3.zero;
private Vector3 lastRotV;
private Vector3 currentRot;
@ -28,27 +30,12 @@ public class OpenSeeKinematicInterpolation : MonoBehaviour
private double updateT;
private double interpolateT;
public void PrettyEuler() {
// Ew, but how would you do this interpolation with quaternions?
if (currentRot.x > 270f && lastRot.x < 90f)
currentRot.x -= 360f;
if (currentRot.y > 270f && lastRot.y < 90f)
currentRot.y -= 360f;
if (currentRot.z > 270f && lastRot.z < 90f)
currentRot.z -= 360f;
if (currentRot.x < 90f && lastRot.x > 270f)
lastRot.x -= 360f;
if (currentRot.y < 90f && lastRot.y > 270f)
lastRot.y -= 360f;
if (currentRot.z < 90f && lastRot.z > 270f)
lastRot.z -= 360f;
}
public void UpdateKI(double newT, Vector3 newPos, Quaternion newRot) {
Interpolate();
currentPos = transform.localPosition;
currentRot = OpenSeeIKTarget.PrettyEuler(currentRot, transform.localRotation.eulerAngles);
float dTNow = (float)(interpolateT - updateT);
if (interpolateT - updateT > 0) {
float dTNow = (float)(interpolateT - updateT);
currentPosV = (currentPos - lastPos) / dTNow;
currentRotV = (currentRot - lastRot) / dTNow;
} else {
@ -63,8 +50,7 @@ public class OpenSeeKinematicInterpolation : MonoBehaviour
lastT = currentT;
currentPos = newPos;
currentRot = newRot.eulerAngles;
PrettyEuler();
currentRot = OpenSeeIKTarget.PrettyEuler(lastRot, newRot.eulerAngles);
currentT = newT;
dT = (float)(currentT - lastT);
currentPosV = (currentPos - lastPos) / dT;
@ -109,4 +95,6 @@ public class OpenSeeKinematicInterpolation : MonoBehaviour
public void LateUpdate() {
Interpolate();
}
}
}