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... | |
This class implements the update step of the algorithm.
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private |
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.
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 . |
cylinderOrientations | The orientation of each cylinder at its center of mass. |
cylinderOrientationPredictions | The prediction of the orientation of each cylinder at its center of mass. |
cylinderAngularVelocities
. 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.
cylinderOrientations | The orientation of each cylinder at its center of mass. |
cylinderCount | The count of all cylinders of the guidewire. Equals the length of cylinderOrientationPredictions . |
cylinderOrientationPredictions | The prediction of the orientation of each cylinder at its center of mass. |
cylinderOrientations
. Vector3 [] GuidewireSim.UpdateStep.UpdateSpherePositions | ( | Vector3[] | spherePositions, |
int | spheresCount, | ||
Vector3[] | spherePositionPredictions | ||
) |
Updates the sphere positions given the current position predictions.
spherePositions | The position at the current frame of each sphere. |
spheresCount | The count of all spheres of the guidewire. Equals the length of spherePositionPredictions . |
spherePositionPredictions | The prediction of the position at the current frame of each sphere (in this case of the last frame). |
spherePositions
. Vector3 [] GuidewireSim.UpdateStep.UpdateSphereVelocities | ( | Vector3[] | sphereVelocities, |
int | spheresCount, | ||
Vector3[] | spherePositionPredictions, | ||
Vector3[] | spherePositions | ||
) |
Updates the sphere velocities given the current prediction and the current position.
sphereVelocities | The velocity of the current frame of each sphere. |
spheresCount | The count of all spheres of the guidewire. Equals the length of spherePositionPredictions . |
spherePositionPredictions | The prediction of the position at the current frame of each sphere (in this case of the last frame). |
spherePositions | The position at the current frame of each sphere. |
sphereVelocities
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private |
The component MathHelper that provides math related helper functions.