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Vector3[] | PredictSphereVelocities (Vector3[] sphereVelocities, float[] sphereInverseMasses, Vector3[] sphereExternalForces) |
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Vector3[] | PredictSpherePositions (Vector3[] spherePositionPredictions, int spheresCount, Vector3[] spherePositions, Vector3[] sphereVelocities) |
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Vector3[] | PredictAngularVelocities (Vector3[] cylinderAngularVelocities, int cylinderCount, float[,] inertiaTensor, Vector3[] cylinderExternalTorques, float[,] inverseInertiaTensor) |
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BSM.Quaternion[] | PredictCylinderOrientations (BSM.Quaternion[] cylinderOrientationPredictions, int cylinderCount, Vector3[] cylinderAngularVelocities, BSM.Quaternion[] cylinderOrientations) |
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This class implements the prediction step of the algorithm.
◆ Awake()
void GuidewireSim.PredictionStep.Awake |
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private |
◆ PredictAngularVelocities()
Vector3 [] GuidewireSim.PredictionStep.PredictAngularVelocities |
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Vector3[] |
cylinderAngularVelocities, |
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int |
cylinderCount, |
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float |
inertiaTensor[,], |
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Vector3[] |
cylinderExternalTorques, |
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float |
inverseInertiaTensor[,] |
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) |
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Calculates the predictions for the angular velocities for the prediction step of the algorithm.
- Parameters
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cylinderAngularVelocities | The angular velocity of the current frame of each orientation element/ cylinder. |
cylinderCount | The count of all cylinders of the guidewire. Equals the length of cylinderOrientationPredictions . |
inertiaTensor | The inertia tensor. Entries are approximates as in the CoRdE paper. |
cylinderExternalTorques | The sum of all current external torques that are applied per orientation element/ cylinder. |
inverseInertiaTensor | The inverse of inertiaTensor . |
- Returns
- The angular velocity of the current frame of each orientation element/ cylinder, i.e.
cylinderAngularVelocities
.
- Note
- The predictions are again stored in
cylinderAngularVelocities
.
◆ PredictCylinderOrientations()
BSM.Quaternion [] GuidewireSim.PredictionStep.PredictCylinderOrientations |
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BSM.Quaternion[] |
cylinderOrientationPredictions, |
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int |
cylinderCount, |
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Vector3[] |
cylinderAngularVelocities, |
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BSM.Quaternion[] |
cylinderOrientations |
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) |
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Calculates the predictions for the cylinder orientations for the prediction step of the algorithm.
- Parameters
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cylinderOrientationPredictions | The prediction of the orientation of each cylinder at its center of mass. |
cylinderCount | The count of all cylinders of the guidewire. Equals the length of cylinderOrientationPredictions . |
cylinderAngularVelocities | The angular velocity of the current frame of each orientation element/ cylinder. |
cylinderOrientations | The orientation of each cylinder at its center of mass. |
- Returns
- The prediction of the orientation of each cylinder at its center of mass, i.e.
cylinderOrientationPredictions
.
◆ PredictSpherePositions()
Vector3 [] GuidewireSim.PredictionStep.PredictSpherePositions |
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Vector3[] |
spherePositionPredictions, |
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int |
spheresCount, |
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Vector3[] |
spherePositions, |
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Vector3[] |
sphereVelocities |
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) |
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Calculates the predictions for the sphere positions for the prediction step of the algorithm.
- Parameters
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spherePositionPredictions | The prediction of the position at the current frame of each sphere (in this case of the last frame). |
spheresCount | The count of all spheres of the guidewire. Equals the length of spherePositionPredictions . |
spherePositions | The position at the current frame of each sphere. |
sphereVelocities | The velocity of the current frame of each sphere. |
- Returns
- The prediction of the position at the current frame of each sphere, i.e. spherePositionPredictions.
◆ PredictSphereVelocities()
Vector3 [] GuidewireSim.PredictionStep.PredictSphereVelocities |
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Vector3[] |
sphereVelocities, |
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float[] |
sphereInverseMasses, |
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Vector3[] |
sphereExternalForces |
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) |
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Calculates the predictions for the sphere velocities for the prediction step of the algorithm.
- Parameters
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sphereVelocities | The velocity of the current frame of each sphere. |
sphereInverseMasses | The constant inverse masses of each sphere. |
sphereExternalForces | The sum of all current external forces that are applied per particle/ sphere. |
- Returns
- The predictions of the positions of the spheres, i.e.
spherePositionPredictions
.
- Note
- The predictions are again stored in
sphereVelocities
.
◆ mathHelper
The component MathHelper that provides math related helper functions.
The documentation for this class was generated from the following file: