dMatrix clSpline::GetCoordinates(const dMatrix &uSpec)
{
dMatrix coord;
if(uSpec.GetNumberColumns() != 1 || uSpec.GetNumberRows() == 0)
{
throw clException("clSpline", "GetCoordinates", "Invalid dimensions of matrix uSpec.");
}
else
{
coord.SetNumberRows(uSpec.GetNumberRows());
coord.SetNumberColumns(3);
if(!initialised)
{
Initialise();
}
// Do for all specified u's
for(int i=1; i<=uSpec.GetNumberRows(); i++)
{
if(uSpec(i, 1) < 0 || uSpec(i, 1) > 1)
{
throw clException("clSpline", "GetCoordinates", "Invalid value for uSpec.");
}
else
{
// Now find the position of uSpec
double uu = uSpec(i, 1)*GetSplineLength();
int j = 1;
while((uu - u(j+1, 1) > 0) && (j<u.GetNumberRows()-1))
{
j++;
}
// Now calculate the coefficients
double A = (u(j+1, 1)-uu)/(u(j+1, 1)-u(j,1));
double B = 1-A;
double C = (A*A*A-A)/6 * (u(j+1, 1)-u(j, 1))*(u(j+1, 1)-u(j, 1));
double D = (B*B*B-B)/6 * (u(j+1, 1)-u(j, 1))*(u(j+1, 1)-u(j, 1));
// Finally calculate the coordinates
coord.SetElement(i, 1, A*X(j, 1) + B*X(j+1, 1) + C*X2(j, 1) + D*X2(j+1, 1));
coord.SetElement(i, 2, A*Y(j, 1) + B*Y(j+1, 1) + C*Y2(j, 1) + D*Y2(j+1, 1));
coord.SetElement(i, 3, A*Z(j, 1) + B*Z(j+1, 1) + C*Z2(j, 1) + D*Z2(j+1, 1));
}
}
}
return (coord);
}
FVector USplineComponent::GetWorldDirectionAtTime(float Time, bool bUseConstantVelocity) const
{
if (Duration == 0.0f)
{
return FVector::ZeroVector;
}
if (bUseConstantVelocity)
{
return GetWorldDirectionAtDistanceAlongSpline(Time / Duration * GetSplineLength());
}
const float TimeMultiplier = (SplineInfo.Points.Num() - 1.0f) / Duration;
const FVector Tangent = SplineInfo.EvalDerivative(Time * TimeMultiplier, FVector::ZeroVector).GetSafeNormal();
return ComponentToWorld.TransformVectorNoScale(Tangent);
}
FVector USplineComponent::GetWorldLocationAtTime(float Time, bool bUseConstantVelocity) const
{
if (Duration == 0.0f)
{
return FVector::ZeroVector;
}
if (bUseConstantVelocity)
{
return GetWorldLocationAtDistanceAlongSpline(Time / Duration * GetSplineLength());
}
const float TimeMultiplier = (SplineInfo.Points.Num() - 1.0f) / Duration;
const FVector Location = SplineInfo.Eval(Time * TimeMultiplier, FVector::ZeroVector);
return ComponentToWorld.TransformPosition(Location);
}
FVector USplineComponent::GetScaleAtTime(float Time, bool bUseConstantVelocity) const
{
if (Duration == 0.0f)
{
return FVector(1.0f);
}
if (bUseConstantVelocity)
{
return GetScaleAtDistanceAlongSpline(Time / Duration * GetSplineLength());
}
else
{
const int32 NumPoints = SplineInfo.Points.Num();
const int32 NumSegments = bClosedLoop ? NumPoints : NumPoints - 1;
const float TimeMultiplier = NumSegments / Duration;
return GetScaleAtSplineInputKey(Time * TimeMultiplier);
}
}
FTransform USplineComponent::GetTransformAtTime(float Time, ESplineCoordinateSpace::Type CoordinateSpace, bool bUseConstantVelocity, bool bUseScale) const
{
if (Duration == 0.0f)
{
return FTransform::Identity;
}
if (bUseConstantVelocity)
{
return GetTransformAtDistanceAlongSpline(Time / Duration * GetSplineLength(), CoordinateSpace, bUseScale);
}
else
{
const int32 NumPoints = SplineInfo.Points.Num();
const int32 NumSegments = bClosedLoop ? NumPoints : NumPoints - 1;
const float TimeMultiplier = NumSegments / Duration;
return GetTransformAtSplineInputKey(Time * TimeMultiplier, CoordinateSpace, bUseScale);
}
}
FVector USplineComponent::GetRightVectorAtTime(float Time, ESplineCoordinateSpace::Type CoordinateSpace, bool bUseConstantVelocity) const
{
if (Duration == 0.0f)
{
return FVector::ZeroVector;
}
if (bUseConstantVelocity)
{
return GetRightVectorAtDistanceAlongSpline(Time / Duration * GetSplineLength(), CoordinateSpace);
}
else
{
const int32 NumPoints = SplineInfo.Points.Num();
const int32 NumSegments = bClosedLoop ? NumPoints : NumPoints - 1;
const float TimeMultiplier = NumSegments / Duration;
return GetRightVectorAtSplineInputKey(Time * TimeMultiplier, CoordinateSpace);
}
}
