cleanup

BenoitGeslain · Jun 26, 2024 · 0694103 · 0694103
1 parent 6b9d60c
commit 0694103
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Showing 7 changed files with 10 additions and 15 deletions.
diff --git a/...aptic Toolkit/Sample Scenes/AFP_Test.meta → ...aptic Toolkit/Sample Scenes/APF_Test.meta b/...aptic Toolkit/Sample Scenes/AFP_Test.meta → ...aptic Toolkit/Sample Scenes/APF_Test.meta
diff --git a/.../Sample Scenes/AFP_Test/New Scene2d.unity → .../Sample Scenes/APF_Test/New Scene2d.unity b/.../Sample Scenes/AFP_Test/New Scene2d.unity → .../Sample Scenes/APF_Test/New Scene2d.unity
diff --git a/...le Scenes/AFP_Test/New Scene2d.unity.meta → ...le Scenes/APF_Test/New Scene2d.unity.meta b/...le Scenes/AFP_Test/New Scene2d.unity.meta → ...le Scenes/APF_Test/New Scene2d.unity.meta
diff --git a/.../AFP_Test/Sample Scene WR_2dmap OVR.unity → .../APF_Test/Sample Scene WR_2dmap OVR.unity b/.../AFP_Test/Sample Scene WR_2dmap OVR.unity → .../APF_Test/Sample Scene WR_2dmap OVR.unity
diff --git a/...Test/Sample Scene WR_2dmap OVR.unity.meta → ...Test/Sample Scene WR_2dmap OVR.unity.meta b/...Test/Sample Scene WR_2dmap OVR.unity.meta → ...Test/Sample Scene WR_2dmap OVR.unity.meta
diff --git a/Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Utils/Gradient.cs b/Visuo-haptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Utils/Gradient.cs
@@ -38,7 +38,7 @@ public static Func<Vector3, float> RepulsivePotential3D(List<Collider> obstacles
 			(x) => obstacles.Sum(o => 1 / Vector3.Distance(x, o.ClosestPoint(x)));
 
 		public static Func<Vector3, float> RepulsivePotential3D(List<Vector3> obstacles) =>
-			(x) => obstacles.Sum(o => 1 / (x - o).sqrMagnitude);
+			(x) => obstacles.Sum(o => 1 / Vector3.Distance(x, o));
 
 
 		public static Vector2 Gradient2v2(Vector2 x, List<Collider2D> obstaclescolliders) {

diff --git a/...aptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Utils/PhysicalEnvironmentCalibration.cs b/...aptic Toolkit/Assets/Visuo-Haptic Toolkit/Scripts/Utils/PhysicalEnvironmentCalibration.cs
@@ -3,7 +3,6 @@
 using UnityEngine;
 
 using VHToolkit;
-using VHToolkit.Redirection;
 
 public class PhysicalEnvironmentCalibration : MonoBehaviour {
 
@@ -18,19 +17,16 @@ void Start() {
 
     // Update is called once per frame
     void Update() {
-        List<Vector3> obs = new();
+
 
         var dir = (bounds.First() - bounds.Last()).normalized;
         int n = (int)(Vector3.Distance(bounds.Last(), bounds.First()) / eps);
-        for (int j = 0; j < n; j++) {
-            obs.Add(bounds.Last() + (j + 0.5f) * eps * dir);
-        }
-        for (int i = 1; i < bounds.Count; i++) {
-            dir = (bounds[i] - bounds[i - 1]).normalized;
-            n = (int) (Vector3.Distance(bounds[i - 1], bounds[i]) / eps);
-            for (int j = 0; j < n; j++) {
-                obs.Add(bounds[i - 1] + (j + 0.5f) * eps * dir);
-            }
+        List<Vector3> obs = new();
+        foreach (var(a, b) in bounds.Zip(bounds.Skip(1).Append(bounds.First())))
+        {
+            dir = (b - a).normalized;
+            n = (int) (Vector3.Distance(a, b) / eps);
+            obs.AddRange(Enumerable.Range(0, n - 1).Select(j => a + (j + 0.5f) * eps * dir));
         }
         Debug.Log(obs.Count);
         obs.ForEach(o => Debug.Log(o));
@@ -39,10 +35,9 @@ void Update() {
     }
 
     private void OnDrawGizmos() {
-        for (int i = 1; i < bounds.Count; i++) {
-            Gizmos.DrawLine(bounds[i - 1], bounds[i]);
+        foreach (var (a, b) in bounds.Zip(bounds.Skip(1).Append(bounds.First()))) {
+            Gizmos.DrawLine(a, b);
         }
-        Gizmos.DrawLine(bounds.Last(), bounds.First());
     }
 
     private Vector3 ComputeGradient(Transform user, List<Vector3> dividedObstacles) => Vector3.ProjectOnPlane(MathTools.Gradient3(