GuidewireSimulation
GuidewireSim.UpdateStep Class Reference
Inheritance diagram for GuidewireSim.UpdateStep:

Public Member Functions

Vector3[] UpdateSphereVelocities (Vector3[] sphereVelocities, int spheresCount, Vector3[] spherePositionPredictions, Vector3[] spherePositions)
 
Vector3[] UpdateSpherePositions (Vector3[] spherePositions, int spheresCount, Vector3[] spherePositionPredictions)
 
Vector3[] UpdateCylinderAngularVelocities (Vector3[] cylinderAngularVelocities, int cylinderCount, BSM.Quaternion[] cylinderOrientations, BSM.Quaternion[] cylinderOrientationPredictions)
 
BSM.Quaternion[] UpdateCylinderOrientations (BSM.Quaternion[] cylinderOrientations, int cylinderCount, BSM.Quaternion[] cylinderOrientationPredictions)
 

Private Member Functions

void Awake ()
 

Private Attributes

MathHelper mathHelper
 The component MathHelper that provides math related helper functions. More...
 

Detailed Description

This class implements the update step of the algorithm.

Member Function Documentation

◆ Awake()

void GuidewireSim.UpdateStep.Awake ( )
private

◆ UpdateCylinderAngularVelocities()

Vector3 [] GuidewireSim.UpdateStep.UpdateCylinderAngularVelocities ( Vector3[]  cylinderAngularVelocities,
int  cylinderCount,
BSM.Quaternion[]  cylinderOrientations,
BSM.Quaternion[]  cylinderOrientationPredictions 
)

Updates the cylinder angular velocities for the update step of the simulation.

Parameters
cylinderAngularVelocitiesThe angular velocity of the current frame of each orientation element/ cylinder.
cylinderCountThe count of all cylinders of the guidewire. Equals the length of cylinderOrientationPredictions.
cylinderOrientationsThe orientation of each cylinder at its center of mass.
cylinderOrientationPredictionsThe prediction of the orientation of each cylinder at its center of mass.
Returns
The angular velocity of the current frame of each orientation element/ cylinder, i.e. cylinderAngularVelocities.

◆ UpdateCylinderOrientations()

BSM.Quaternion [] GuidewireSim.UpdateStep.UpdateCylinderOrientations ( BSM.Quaternion[]  cylinderOrientations,
int  cylinderCount,
BSM.Quaternion[]  cylinderOrientationPredictions 
)

Updates the cylinder orientations given the current orientation predictions for the update step of the simulation.

Parameters
cylinderOrientationsThe orientation of each cylinder at its center of mass.
cylinderCountThe count of all cylinders of the guidewire. Equals the length of cylinderOrientationPredictions.
cylinderOrientationPredictionsThe prediction of the orientation of each cylinder at its center of mass.
Returns
The orientation of each cylinder at its center of mass, i.e. cylinderOrientations.

◆ UpdateSpherePositions()

Vector3 [] GuidewireSim.UpdateStep.UpdateSpherePositions ( Vector3[]  spherePositions,
int  spheresCount,
Vector3[]  spherePositionPredictions 
)

Updates the sphere positions given the current position predictions.

Parameters
spherePositionsThe position at the current frame of each sphere.
spheresCountThe count of all spheres of the guidewire. Equals the length of spherePositionPredictions.
spherePositionPredictionsThe prediction of the position at the current frame of each sphere (in this case of the last frame).
Returns
The position at the current frame of each sphere, i.e. spherePositions.

◆ UpdateSphereVelocities()

Vector3 [] GuidewireSim.UpdateStep.UpdateSphereVelocities ( Vector3[]  sphereVelocities,
int  spheresCount,
Vector3[]  spherePositionPredictions,
Vector3[]  spherePositions 
)

Updates the sphere velocities given the current prediction and the current position.

Parameters
sphereVelocitiesThe velocity of the current frame of each sphere.
spheresCountThe count of all spheres of the guidewire. Equals the length of spherePositionPredictions.
spherePositionPredictionsThe prediction of the position at the current frame of each sphere (in this case of the last frame).
spherePositionsThe position at the current frame of each sphere.
Returns
The velocity of the current frame of each sphere, i.e. sphereVelocities.

Member Data Documentation

◆ mathHelper

MathHelper GuidewireSim.UpdateStep.mathHelper
private

The component MathHelper that provides math related helper functions.


The documentation for this class was generated from the following file: