升级obi

2026-01-22 22:08:21 +08:00
parent 120b8cda26
commit 20f14322bc
1067 changed files with 149894 additions and 29583 deletions
--- a/Assets/Obi/Scripts/Common/DataStructures/InertialFrame.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/InertialFrame.cs
@@ -0,0 +1,56 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public struct InertialFrame
+    {
+        public AffineTransform frame;
+        public AffineTransform prevFrame;
+
+        public Vector4 velocity;
+        public Vector4 angularVelocity;
+
+        public Vector4 acceleration;
+        public Vector4 angularAcceleration;
+
+        public InertialFrame(Vector4 position, Vector4 scale, Quaternion rotation)
+        {
+            this.frame = new AffineTransform(position, rotation, scale);
+            this.prevFrame = frame;
+
+            velocity = Vector4.zero;
+            angularVelocity = Vector4.zero;
+            acceleration = Vector4.zero;
+            angularAcceleration = Vector4.zero;
+        }
+
+        public InertialFrame(AffineTransform frame)
+        {
+            this.frame = frame;
+            this.prevFrame = frame;
+
+            velocity = Vector4.zero;
+            angularVelocity = Vector4.zero;
+            acceleration = Vector4.zero;
+            angularAcceleration = Vector4.zero;
+        }
+
+        public void Update(Vector4 position, Vector4 scale, Quaternion rotation, float dt)
+        {
+            prevFrame = frame;
+            Vector4 prevVelocity = velocity;
+            Vector4 prevAngularVelocity = angularVelocity;
+
+            frame.translation = position;
+            frame.rotation = rotation;
+            frame.scale = scale;
+
+            velocity = ObiIntegration.DifferentiateLinear(frame.translation, prevFrame.translation, dt);
+            angularVelocity = ObiIntegration.DifferentiateAngular(frame.rotation, prevFrame.rotation, dt);
+
+            acceleration = ObiIntegration.DifferentiateLinear(velocity, prevVelocity, dt);
+            angularAcceleration = ObiIntegration.DifferentiateLinear(angularVelocity, prevAngularVelocity, dt);
+        }
+
+    }
+}