Add comment, condense code

practisebody · May 9, 2019 · 6296933 · 6296933
1 parent b899a15
commit 6296933
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Showing 44 changed files with 343 additions and 315 deletions.
diff --git a/Assets/LCY/Math/ILerpable.cs b/Assets/LCY/Math/ILerpable.cs
diff --git a/Assets/LCY/Math/ILerpable.cs.meta b/Assets/LCY/Math/ILerpable.cs.meta
diff --git a/Assets/LCY/Math/Stablizer.cs b/Assets/LCY/Math/Stablizer.cs
diff --git a/Assets/LCY/Math/Stablizer.cs.meta b/Assets/LCY/Math/Stablizer.cs.meta
diff --git a/Assets/LCY/Math/Utilities.cs b/Assets/LCY/Math/Utilities.cs
@@ -6,20 +6,33 @@
 
 namespace LCY
 {
+    /// <summary>
+    /// Math utility functions
+    /// </summary>
     public static partial class Utilities
     {
+        /// <summary>
+        /// Converts a Rodrigues as Vector3 to Quaternion.
+        /// See https://en.wikipedia.org/wiki/Rodrigues%27_rotation_formula.
+        /// </summary>
         public static Quaternion Rodrigues2Quaternion(Vector3 rotation)
         {
             float theta = Mathf.Rad2Deg * rotation.magnitude;
             Vector3 axis = rotation.normalized;
             return Quaternion.AngleAxis(theta, axis);
         }
 
+        /// <summary>
+        /// Converts a List of 3 double to a Vector3
+        /// </summary>
         public static Vector3 List2Vector3(List<double> vec)
         {
             return new Vector3((float)(vec[0]), (float)(vec[1]), (float)(vec[2]));
         }
 
+        /// <summary>
+        /// Converts a Rodrigues as a List of 3 doubles to a Quaternion
+        /// </summary>
         public static Quaternion Rodrigues2Quaternion(List<double> rvec)
         {
             Vector3 axis = List2Vector3(rvec);
@@ -28,28 +41,28 @@ public static Quaternion Rodrigues2Quaternion(List<double> rvec)
             return Quaternion.AngleAxis(theta, axis);
         }
 
-        [DllImport("HoloOpenCVHelper")]
-        public static extern void addLine(float x, float y, float z, float dx, float dy, float dz);
-        [DllImport("HoloOpenCVHelper")]
-        public static extern void solveLineAndClear();
-        [DllImport("HoloOpenCVHelper")]
-        public static extern float getLinesIntersectionX();
-        [DllImport("HoloOpenCVHelper")]
-        public static extern float getLinesIntersectionY();
-        [DllImport("HoloOpenCVHelper")]
-        public static extern float getLinesIntersectionZ();
+        //[DllImport("HoloOpenCVHelper")]
+        //public static extern void addLine(float x, float y, float z, float dx, float dy, float dz);
+        //[DllImport("HoloOpenCVHelper")]
+        //public static extern void solveLineAndClear();
+        //[DllImport("HoloOpenCVHelper")]
+        //public static extern float getLinesIntersectionX();
+        //[DllImport("HoloOpenCVHelper")]
+        //public static extern float getLinesIntersectionY();
+        //[DllImport("HoloOpenCVHelper")]
+        //public static extern float getLinesIntersectionZ();
 
-        public static Vector3 LinesIntersection(List<Tuple<Vector3, Vector3>> lines)
-        {
-            foreach (Tuple<Vector3, Vector3> line in lines)
-            {
-                addLine(line.Item1.x, line.Item1.y, line.Item1.z, line.Item2.x, line.Item2.y, line.Item2.z);
-            }
-            solveLineAndClear();
-            float x = getLinesIntersectionX();
-            float y = getLinesIntersectionY();
-            float z = getLinesIntersectionZ();
-            return new Vector3(x, y, z);
-        }
+        //public static Vector3 LinesIntersection(List<Tuple<Vector3, Vector3>> lines)
+        //{
+        //    foreach (Tuple<Vector3, Vector3> line in lines)
+        //    {
+        //        addLine(line.Item1.x, line.Item1.y, line.Item1.z, line.Item2.x, line.Item2.y, line.Item2.z);
+        //    }
+        //    solveLineAndClear();
+        //    float x = getLinesIntersectionX();
+        //    float y = getLinesIntersectionY();
+        //    float z = getLinesIntersectionZ();
+        //    return new Vector3(x, y, z);
+        //}
     }
 }
diff --git a/Assets/LCY/Singleton.cs b/Assets/LCY/Singleton.cs
@@ -4,6 +4,9 @@
 
 namespace LCY
 {
+    /// <summary>
+    /// Singleton generic class, instantiate once
+    /// </summary>
     public class Singleton<T> where T : Singleton<T>, new()
     {
         public static T Instance { get; } = new T();