Ковешников Арсений Александрович

Transcription

1 Работа призера заключительного этапа командной инженерной олимпиады школьников Олимпиада Национальной технологической инициативы Профиль «Виртуальная и дополненная реальность» Ковешников Арсений Александрович Класс: 11А Школа: ГБОУ г. Москвы «Курчатовская школа» Уникальный номер участника: 11-6 Город: г. Москва Регион: г. Москва Команда на заключительном этапе: Double K Параллель: Результаты заключительного этапа: Индивидульная часть Командная часть Математика Информатика Макс. Результат Итого Балл Всего ,48

2 Индивидуальная часть Персональный лист участника с номером 11-6:

3 Матемтика

4 Информатика ЗадачаА program VR; var t : integer; input, output : text; ds : array[ ] of integer; a, b, x1, d1, counter : longint; ison : boolean; begin Reset(input, 'input.txt'); Rewrite(output, 'output.txt'); readln(input, a, b, t); ison := true; for counter := 0 to (t div 2) do begin d1 := d1 + 1; ds[counter + 1] := d1; x1 := x1 + d1; end; for counter := (t div 2) + 1 to t - 1 do begin d1 := d1-1; ds[counter + 1] := d1; x1 := x1 + d1; end; if (b - a <> x1) then writeln (-1) else for counter := 1 to t do write(output, ds[counter], ' ') end.

5 Командная часть Результаты были получены в рамках выступления команды: Double K Личный состав команды: Крылов Никита Андреевич Ковешников Арсений Александрович

6 Spawn Charge using System.Collections; using System.Collections.Generic; using UnityEngine; using Valve.VR; using Valve.VR.InteractionSystem; [RequireComponent(typeof(Hand))] public class SpawnCharge : MonoBehaviour Hand hand; public GameObject charge; int indicatorvalue = 1; Charge current; // Use this for initialization void Start () hand = GetComponentInParent<Hand>(); // Update is called once per frame void Update () if (hand.controller!= null) float input = hand.controller.getaxis().x * 4; int v = Mathf.CeilToInt(Mathf.Abs(input)); v *= Mathf.RoundToInt(Mathf.Sign(input)); if (v!= 0) if (v < -4) v = -4; if (v > 4) v = 4; if (v!= 0) indicatorvalue = v; Indicator(indicatorValue); if(current!= null) if(hand.getstandardinteractionbuttondown()) hand.detachobject(current.gameobject); current.onpickup.removelistener(onpickup); current.rb.iskinematic = false; current.rb.interpolation = RigidbodyInterpolation.Interpolate; current.init(); //current.initlines(); current.active = true; Simulation.Instance.AddCharge(current); current = null; else current.value = indicatorvalue;

7 else if(hand.getstandardinteractionbuttondown()) var position = hand.transform.find("attach_controllertip").position; var go = Instantiate(charge, position, Quaternion.identity); hand.attachobject(go, Hand.AttachmentFlags.ParentToHand Hand.AttachmentFlags.DetachFromOtherHand, "Attach_ControllerTip"); current = go.getcomponent<charge>(); current.value = indicatorvalue; current.onpickup.addlistener(onpickup); void Indicator(int value) if (value < 0) ); ; ; ); ue); alse); alse); alse); alse); GameObject.Find("indicator(Clone)").transform.Find("pos").gameObject.SetActive(false GameObject.Find("indicator(Clone)").transform.Find("neg").gameObject.SetActive(true) else GameObject.Find("indicator(Clone)").transform.Find("pos").gameObject.SetActive(true) GameObject.Find("indicator(Clone)").transform.Find("neg").gameObject.SetActive(false switch(mathf.abs(value)) case 1: GameObject.Find("indicator(Clone)").transform.Find("numb1").gameObject.SetActive(tr GameObject.Find("indicator(Clone)").transform.Find("numb2").gameObject.SetActive(f GameObject.Find("indicator(Clone)").transform.Find("numb3").gameObject.SetActive(f GameObject.Find("indicator(Clone)").transform.Find("numb4").gameObject.SetActive(f break; case 2: GameObject.Find("indicator(Clone)").transform.Find("numb1").gameObject.SetActive(f

8 ue); alse); alse); alse); alse); ue); alse); alse); alse); alse); ue); GameObject.Find("indicator(Clone)").transform.Find("numb2").gameObject.SetActive(tr GameObject.Find("indicator(Clone)").transform.Find("numb3").gameObject.SetActive(f GameObject.Find("indicator(Clone)").transform.Find("numb4").gameObject.SetActive(f break; case 3: GameObject.Find("indicator(Clone)").transform.Find("numb1").gameObject.SetActive(f GameObject.Find("indicator(Clone)").transform.Find("numb2").gameObject.SetActive(f GameObject.Find("indicator(Clone)").transform.Find("numb3").gameObject.SetActive(tr GameObject.Find("indicator(Clone)").transform.Find("numb4").gameObject.SetActive(f break; case 4: GameObject.Find("indicator(Clone)").transform.Find("numb1").gameObject.SetActive(f GameObject.Find("indicator(Clone)").transform.Find("numb2").gameObject.SetActive(f GameObject.Find("indicator(Clone)").transform.Find("numb3").gameObject.SetActive(f GameObject.Find("indicator(Clone)").transform.Find("numb4").gameObject.SetActive(tr break; void OnPickUp() current.onpickup.removelistener(onpickup); current.rb.iskinematic = false; current.rb.interpolation = RigidbodyInterpolation.Interpolate; current.init(); //current.initlines(); current.active = true; Simulation.Instance.AddCharge(current); current = null; Singleton

9 using UnityEngine; /// <summary> /// Be aware this will not prevent a non singleton constructor /// such as `T myt = new T();` /// To prevent that, add `protected T () ` to your singleton class. /// /// As a note, this is made as MonoBehaviour because we need Coroutines. /// </summary> public class Singleton<T> : MonoBehaviour where T : MonoBehaviour private static T _instance; private static object _lock = new object(); public static T Instance get if (applicationisquitting) Debug.LogWarning("[Singleton] Instance '"+ typeof(t) + "' already destroyed on application quit." + " Won't create again - returning null."); return null; lock(_lock) if (_instance == null) _instance = (T) FindObjectOfType(typeof(T)); wrong " + if ( FindObjectsOfType(typeof(T)).Length > 1 ) Debug.LogError("[Singleton] Something went really " - there should never be more than 1 singleton!" + " Reopening the scene might fix it."); return _instance; if (_instance == null) GameObject singleton = new GameObject(); _instance = singleton.addcomponent<t>(); singleton.name = "(singleton) "+ typeof(t).tostring(); DontDestroyOnLoad(singleton); Debug.Log("[Singleton] An instance of " + typeof(t) + " is needed in the scene, so '" + singleton + "' was created with DontDestroyOnLoad.");

10 + else Debug.Log("[Singleton] Using instance already created: " _instance.gameobject.name); return _instance; private static bool applicationisquitting = false; /// <summary> /// When Unity quits, it destroys objects in a random order. /// In principle, a Singleton is only destroyed when application quits. /// If any script calls Instance after it have been destroyed, /// it will create a buggy ghost object that will stay on the Editor scene /// even after stopping playing the Application. Really bad! /// So, this was made to be sure we're not creating that buggy ghost object. /// </summary> protected virtual void OnDestroy () applicationisquitting = true; SimulationControl using System.Collections; using System.Collections.Generic; using UnityEngine; using Valve.VR; using Valve.VR.InteractionSystem; [RequireComponent(typeof(Hand))] public class SimulationControl : MonoBehaviour Hand hand; public AudioSource audiosource; public AudioClip[] clips; // Use this for initialization void Start () hand = GetComponent<Hand>(); // Update is called once per frame void Update () if (hand.controller!= null) if(hand.controller.getpressdown(evrbuttonid.k_ebutton_steamvr_touchpad)) var input = hand.controller.getaxis().x; if(input < 0)

11 if (!Simulation.Instance.Paused) e); ; e); GameObject.Find("lefthand(Clone)").transform.Find("pause").gameObject.SetActive(fals GameObject.Find("lefthand(Clone)").transform.Find("play").gameObject.SetActive(true) audiosource.playoneshot(clips[0]); else GameObject.Find("lefthand(Clone)").transform.Find("pause").gameObject.SetActive(tru ); GameObject.Find("lefthand(Clone)").transform.Find("play").gameObject.SetActive(false "Charge(Clone)") Simulation using System; using System.Collections; using System.Collections.Generic; using UnityEngine; audiosource.playoneshot(clips[1]); Simulation.Instance.Paused =!Simulation.Instance.Paused; else if (input > 0) for (int i = 0; i < hand.attachedobjects.count; i++) if(hand.attachedobjects[i].attachedobject.name == public class Simulation : Singleton<Simulation> public float k = 0.1f; public float maxdistance = 1f; List<Charge> charges = new List<Charge>(); bool _paused = false; Vector3[] positions; GPUField.ChargeStruct[] chargesarr; audiosource.playoneshot(clips[2]); var go = hand.attachedobjects[i].attachedobject; hand.detachobject(go); Debug.Log(go.name); var charge = go.getcomponent<charge>(); Debug.Log(charge); Simulation.Instance.RemoveCharge(charge);

12 public int passcount = 10; public int pass = 0; public bool Paused get return _paused; set if (value) for (int i = 0; i < charges.count; i++) charges[i].savevelocity(); charges[i].rb.iskinematic = true; charges[i].rb.interpolation = RigidbodyInterpolation.None; else for (int i = 0; i < charges.count; i++) charges[i].rb.iskinematic = false; charges[i].rb.interpolation = RigidbodyInterpolation.Interpolate; charges[i].restorevelocity(); _paused = value; // Use this for initialization void Start () //chargesarr = new GPUField.ChargeStruct[passCount]; //positions = new Vector3[passCount * 6 * 10]; bool a = true; // Update is called once per frame void Update () #if UNITY_EDITOR for (int i = 0; i < charges.count; i++) charges[i].updatelines(); #else Gist.Parallel.For(0, charges.count, (int i) => charges[i].updatelines(); ); #endif void FixedUpdate() if(!paused) UpdatePhysics(Time.fixedDeltaTime); //if (charges.count > 0) // UpdateLinesGPU();

13 void UpdatePhysics(float T) for (int i = 0; i < charges.count; i++) if(charges[i].active) charges[i].acceleration = Vector3.zero; for (int i = 0; i < charges.count - 1; i++) for (int j = i + 1; j < charges.count; j++) float r = (charges[j].position - charges[i].position).magnitude; if (r <= maxdistance) float F = (k * (charges[i].value) * (charges[j].value)) / (r * r); var v = (charges[j].position - charges[i].position).normalized; if(charges[i].active) charges[i].acceleration -= F * v; if(charges[j].active) charges[j].acceleration += F * v; for (int i = 0; i < charges.count; i++) if(charges[i].active) //charges[i].velocity += charges[i].acceleration * T; //charges[i].position += charges[i].velocity * T; charges[i].rb.velocity += charges[i].acceleration * T; void UpdateLinesGPU() int count = Mathf.Min(charges.Count, passcount); int passes = charges.count / count + (charges.count % count > 0? 1 : 0); for (int i = 0; i < passes; i++) for (int j = 0; j < count; j++) chargesarr[j].position = this.charges[i * count + j].transform.position; chargesarr[j].value = this.charges[i * count + j].value; GPUField.Instance.GetPositions(ref positions, ref chargesarr); var lpositions = new Vector3[10]; for (int j = 0; j < count; j++) for (int k = 0; k < 6; k++) Array.Copy(positions, j * 6 * 10 + k * 10, lpositions, 0, 10); charges[i * count + j].updatelinesgpu(k, ref lpositions);

14 public Vector3 GetField(Vector3 position) Vector3 p = Vector3.zero; for (int i = 0; i < charges.count; i++) float r = (charges[i].position - position).magnitude; if (r <= maxdistance / 2) var v = (charges[i].position - position).normalized; float P = (k * charges[i].value) / (r * r); p += P * v; return p; public Charge GetClosestCharge(Charge charge, Vector3 position) if (charges.count < 2) return null; int self = charges.indexof(charge); int result = -1; float r_sq = float.positiveinfinity; for (int i = 0; i < charges.count; i++) if(i!= self) float sm = (charges[i].position - position).sqrmagnitude; if(sm < r_sq) result = i; r_sq = sm; return charges[result]; public Vector3 GetField(Charge charge, Vector3 position) if (charge == null) return Vector3.zero; float r = (charge.position - position).magnitude; if (r <= maxdistance / 2) var v = (charge.position - position).normalized; float P = (k * charge.value) / (r * r); return P * v; return Vector3.zero; public void AddCharge(Charge charge) charges.add(charge); Debug.Log(charges.Count); public void RemoveCharge(Charge charge)

15 charges.remove(charge); Destroy(charge.gameObject); //IEnumerator UpdateLines() // while() // // PickableBackup using System.Collections; using System.Collections.Generic; using UnityEngine; using UnityEngine.Events; using Valve.VR.InteractionSystem; [RequireComponent( typeof( Charge ) )] [RequireComponent( typeof( Interactable ) )] public class PickableBackup : MonoBehaviour [EnumFlags] [Tooltip( "The flags used to attach this object to the hand." )] public Hand.AttachmentFlags attachmentflags = Hand.AttachmentFlags.ParentToHand Hand.AttachmentFlags.DetachFromOtherHand; [Tooltip( "Name of the attachment transform under in the hand's hierarchy which the object should should snap to." )] public string attachmentpoint; [Tooltip( "How fast must this object be moving to attach due to a trigger hold instead of a trigger press?" )] public float catchspeedthreshold = 0.0f; [Tooltip( "When detaching the object, should it return to its original parent?" )] public bool restoreoriginalparent = false; private bool attached = false; private float attachtime; private Vector3 attachposition; private Quaternion attachrotation; public UnityEvent onpickup; public UnityEvent ondetachfromhand; public Charge charge; public GameObject highlight; // private void OnHandHoverBegin( Hand hand )

16 if(hand.guesscurrenthandtype()!= Hand.HandType.Left) return; Debug.Log(hand.GuessCurrentHandType()); bool showhint = true; // "Catch" the throwable by holding down the interaction button instead of pressing it. // Only do this if the throwable is moving faster than the prescribed threshold speed, // and if it isn't attached to another hand if (!attached ) if ( hand.getstandardinteractionbutton() ) var charge = GetComponent<Charge>(); //if ( charge.velocity.magnitude >= catchspeedthreshold ) hand.attachobject( gameobject, attachmentflags, attachmentpoint ); showhint = false; if ( showhint ) highlight.setactive(true); ControllerButtonHints.ShowButtonHint( hand, Valve.VR.EVRButtonId.k_EButton_SteamVR_Trigger ); // private void OnHandHoverEnd( Hand hand ) if(hand.guesscurrenthandtype()!= Hand.HandType.Left) return; highlight.setactive(false); ControllerButtonHints.HideButtonHint( hand, Valve.VR.EVRButtonId.k_EButton_SteamVR_Trigger ); // private void HandHoverUpdate( Hand hand ) if(hand.guesscurrenthandtype()!= Hand.HandType.Left) return; //Trigger got pressed

17 if ( hand.getstandardinteractionbuttondown() ) hand.attachobject( gameobject, attachmentflags, attachmentpoint ); ControllerButtonHints.HideButtonHint( hand, Valve.VR.EVRButtonId.k_EButton_SteamVR_Trigger ); // private void OnAttachedToHand( Hand hand ) charge.active = false; if(hand.guesscurrenthandtype()!= Hand.HandType.Left) return; attached = true; onpickup.invoke(); hand.hoverlock( null ); //Rigidbody rb = GetComponent<Rigidbody>(); //rb.iskinematic = true; //rb.interpolation = RigidbodyInterpolation.None; if ( hand.controller == null ) //velocityestimator.beginestimatingvelocity(); attachtime = Time.time; attachposition = transform.position; attachrotation = transform.rotation; /*if ( attacheasein ) attacheaseintransform = hand.transform; if (!Util.IsNullOrEmpty( attacheaseinattachmentnames ) ) float smallestangle = float.maxvalue; for ( int i = 0; i < attacheaseinattachmentnames.length; i++ ) Transform t = hand.getattachmenttransform( attacheaseinattachmentnames[i] ); float angle = Quaternion.Angle( t.rotation, attachrotation ); if ( angle < smallestangle ) attacheaseintransform = t; smallestangle = angle;

18 */ //snapattacheaseincompleted = false; // private void OnDetachedFromHand( Hand hand ) charge.active = true; if(hand.guesscurrenthandtype()!= Hand.HandType.Left) return; attached = false; ondetachfromhand.invoke(); hand.hoverunlock( null ); //Rigidbody rb = GetComponent<Rigidbody>(); //rb.iskinematic = false; //rb.interpolation = RigidbodyInterpolation.Interpolate; Vector3 position = Vector3.zero; Vector3 velocity = Vector3.zero; Vector3 angularvelocity = Vector3.zero; /*if ( hand.controller == null ) /*velocityestimator.finishestimatingvelocity(); velocity = velocityestimator.getvelocityestimate(); angularvelocity = velocityestimator.getangularvelocityestimate(); position = velocityestimator.transform.position; else velocity = Player.instance.trackingOriginTransform.TransformVector( hand.controller.velocity ); angularvelocity = Player.instance.trackingOriginTransform.TransformVector( hand.controller.angularvelocity ); position = hand.transform.position; */ //Vector3 r = transform.transformpoint( rb.centerofmass ) - position; //rb.velocity = velocity + Vector3.Cross( angularvelocity, r ); //rb.angularvelocity = angularvelocity; // Make the object travel at the release velocity for the amount // of time it will take until the next fixed update, at which // point Unity physics will take over float timeuntilfixedupdate = ( Time.fixedDeltaTime + Time.fixedTime ) - Time.time; transform.position += timeuntilfixedupdate * velocity; float angle = Mathf.Rad2Deg * angularvelocity.magnitude; Vector3 axis = angularvelocity.normalized;

19 transform.rotation *= Quaternion.AngleAxis( angle * timeuntilfixedupdate, axis ); // private void HandAttachedUpdate( Hand hand ) if(hand.guesscurrenthandtype()!= Hand.HandType.Left) return; //Trigger got released if (!hand.getstandardinteractionbutton() ) // Detach ourselves late in the frame. // This is so that any vehicles the player is attached to // have a chance to finish updating themselves. // If we detach now, our position could be behind what it // will be at the end of the frame, and the object may appear // to teleport behind the hand when the player releases it. StartCoroutine( LateDetach( hand ) ); /*if ( attacheasein ) float t = Util.RemapNumberClamped( Time.time, attachtime, attachtime + snapattacheaseintime, 0.0f, 1.0f ); if ( t < 1.0f ) t = snapattacheaseincurve.evaluate( t ); transform.position = Vector3.Lerp( attachposition, attacheaseintransform.position, t ); transform.rotation = Quaternion.Lerp( attachrotation, attacheaseintransform.rotation, t ); else if (!snapattacheaseincompleted ) gameobject.sendmessage( "OnThrowableAttachEaseInCompleted", hand, SendMessageOptions.DontRequireReceiver ); snapattacheaseincompleted = true; */ // private IEnumerator LateDetach( Hand hand ) yield return new WaitForEndOfFrame(); hand.detachobject( gameobject, restoreoriginalparent ); //

20 private void OnHandFocusAcquired( Hand hand ) gameobject.setactive( true ); //velocityestimator.beginestimatingvelocity(); // private void OnHandFocusLost( Hand hand ) gameobject.setactive( false ); //velocityestimator.finishestimatingvelocity(); private void Start() Pickable //======= Copyright (c) Valve Corporation, All rights reserved. =============== // // Purpose: Basic throwable object // //============================================================== =============== using UnityEngine; using UnityEngine.Events; using System.Collections; using Valve.VR.InteractionSystem; // [RequireComponent( typeof( Charge ) )] [RequireComponent( typeof( Interactable ) )] [RequireComponent( typeof( Rigidbody ) )] [RequireComponent( typeof( VelocityEstimator ) )] public class Pickable : MonoBehaviour [EnumFlags] [Tooltip( "The flags used to attach this object to the hand." )] public Hand.AttachmentFlags attachmentflags = Hand.AttachmentFlags.ParentToHand Hand.AttachmentFlags.DetachFromOtherHand; [Tooltip( "Name of the attachment transform under in the hand's hierarchy which the object should should snap to." )] public string attachmentpoint; [Tooltip( "How fast must this object be moving to attach due to a trigger hold instead of a trigger press?" )] public float catchspeedthreshold = 0.0f; [Tooltip( "When detaching the object, should it return to its original parent?" )] public bool restoreoriginalparent = false;

21 public bool attacheasein = false; public AnimationCurve snapattacheaseincurve = AnimationCurve.EaseInOut( 0.0f, 0.0f, 1.0f, 1.0f ); public float snapattacheaseintime = 0.15f; public string[] attacheaseinattachmentnames; private VelocityEstimator velocityestimator; private bool attached = false; private float attachtime; private Vector3 attachposition; private Quaternion attachrotation; private Transform attacheaseintransform; public UnityEvent onpickup; public UnityEvent ondetachfromhand; public bool snapattacheaseincompleted = false; public Charge charge; public GameObject highlight; // void Awake() velocityestimator = GetComponent<VelocityEstimator>(); if ( attacheasein ) attachmentflags &= ~Hand.AttachmentFlags.SnapOnAttach; Rigidbody rb = GetComponent<Rigidbody>(); rb.maxangularvelocity = 50.0f; // private void OnHandHoverBegin( Hand hand ) if(hand.guesscurrenthandtype()!= Hand.HandType.Left) return; bool showhint = true; // "Catch" the throwable by holding down the interaction button instead of pressing it. // Only do this if the throwable is moving faster than the prescribed threshold speed, // and if it isn't attached to another hand if (!attached ) if ( hand.getstandardinteractionbutton() )

22 attachmentpoint ); Rigidbody rb = GetComponent<Rigidbody>(); if ( rb.velocity.magnitude >= catchspeedthreshold ) hand.attachobject( gameobject, attachmentflags, showhint = false; if ( showhint ) highlight.setactive(true); ControllerButtonHints.ShowButtonHint( hand, Valve.VR.EVRButtonId.k_EButton_SteamVR_Trigger ); // private void OnHandHoverEnd( Hand hand ) if(hand.guesscurrenthandtype()!= Hand.HandType.Left) return; highlight.setactive(false); ControllerButtonHints.HideButtonHint( hand, Valve.VR.EVRButtonId.k_EButton_SteamVR_Trigger ); // private void HandHoverUpdate( Hand hand ) if(hand.guesscurrenthandtype()!= Hand.HandType.Left) return; //Trigger got pressed if ( hand.getstandardinteractionbuttondown() ) hand.attachobject( gameobject, attachmentflags, attachmentpoint ); highlight.setactive(false); ControllerButtonHints.HideButtonHint( hand, Valve.VR.EVRButtonId.k_EButton_SteamVR_Trigger ); // private void OnAttachedToHand( Hand hand ) if(hand.guesscurrenthandtype()!= Hand.HandType.Left)

23 return; charge.active = false; attached = true; onpickup.invoke(); hand.hoverlock( null ); Rigidbody rb = GetComponent<Rigidbody>(); rb.iskinematic = true; rb.interpolation = RigidbodyInterpolation.None; if ( hand.controller == null ) velocityestimator.beginestimatingvelocity(); attachtime = Time.time; attachposition = transform.position; attachrotation = transform.rotation; if ( attacheasein ) attacheaseintransform = hand.transform; if (!Util.IsNullOrEmpty( attacheaseinattachmentnames ) ) float smallestangle = float.maxvalue; for ( int i = 0; i < attacheaseinattachmentnames.length; i++ ) Transform t = hand.getattachmenttransform( attacheaseinattachmentnames[i] ); float angle = Quaternion.Angle( t.rotation, attachrotation ); if ( angle < smallestangle ) attacheaseintransform = t; smallestangle = angle; snapattacheaseincompleted = false; // private void OnDetachedFromHand( Hand hand ) if(hand.guesscurrenthandtype()!= Hand.HandType.Left) return;

24 charge.active = true; attached = false; ondetachfromhand.invoke(); hand.hoverunlock( null ); Rigidbody rb = GetComponent<Rigidbody>(); if (!Simulation.Instance.Paused) rb.iskinematic = false; rb.interpolation = RigidbodyInterpolation.Interpolate; Vector3 position = Vector3.zero; Vector3 velocity = Vector3.zero; Vector3 angularvelocity = Vector3.zero; if ( hand.controller == null ) velocityestimator.finishestimatingvelocity(); velocity = velocityestimator.getvelocityestimate(); angularvelocity = velocityestimator.getangularvelocityestimate(); position = velocityestimator.transform.position; else velocity = Player.instance.trackingOriginTransform.TransformVector( hand.controller.velocity ); angularvelocity = Player.instance.trackingOriginTransform.TransformVector( hand.controller.angularvelocity ); position = hand.transform.position; Vector3 r = transform.transformpoint( rb.centerofmass ) - position; rb.velocity = velocity + Vector3.Cross( angularvelocity, r ); rb.angularvelocity = angularvelocity; // Make the object travel at the release velocity for the amount // of time it will take until the next fixed update, at which // point Unity physics will take over float timeuntilfixedupdate = ( Time.fixedDeltaTime + Time.fixedTime ) - Time.time; transform.position += timeuntilfixedupdate * velocity; float angle = Mathf.Rad2Deg * angularvelocity.magnitude; Vector3 axis = angularvelocity.normalized; transform.rotation *= Quaternion.AngleAxis( angle * timeuntilfixedupdate, axis ); // private void HandAttachedUpdate( Hand hand )

25 if(hand.guesscurrenthandtype()!= Hand.HandType.Left) return; //Trigger got released if (!hand.getstandardinteractionbutton() ) // Detach ourselves late in the frame. // This is so that any vehicles the player is attached to // have a chance to finish updating themselves. // If we detach now, our position could be behind what it // will be at the end of the frame, and the object may appear // to teleport behind the hand when the player releases it. StartCoroutine( LateDetach( hand ) ); if ( attacheasein ) float t = Util.RemapNumberClamped( Time.time, attachtime, attachtime + snapattacheaseintime, 0.0f, 1.0f ); if ( t < 1.0f ) t = snapattacheaseincurve.evaluate( t ); transform.position = Vector3.Lerp( attachposition, attacheaseintransform.position, t ); transform.rotation = Quaternion.Lerp( attachrotation, attacheaseintransform.rotation, t ); else if (!snapattacheaseincompleted ) gameobject.sendmessage( "OnThrowableAttachEaseInCompleted", hand, SendMessageOptions.DontRequireReceiver ); snapattacheaseincompleted = true; // private IEnumerator LateDetach( Hand hand ) yield return new WaitForEndOfFrame(); hand.detachobject( gameobject, restoreoriginalparent ); // private void OnHandFocusAcquired( Hand hand ) gameobject.setactive( true ); velocityestimator.beginestimatingvelocity();

26 // private void OnHandFocusLost( Hand hand ) gameobject.setactive( false ); velocityestimator.finishestimatingvelocity(); private void Start() ParallelFor using System.Collections.Generic; using System.Threading; namespace Gist public static class Parallel static AutoResetEvent[] _resets; public static void For(int frominclusive, int toexclusive, System.Action<int> body) var numthreads = 2 * System.Environment.ProcessorCount; if (_resets == null _resets.length!= numthreads) _resets = new AutoResetEvent[numThreads]; for (var i = 0; i < numthreads; i++) _resets [i] = new AutoResetEvent (false); var work = new WaitCallback ((i) => var ii = (int)i; var j = ii + frominclusive; for (var k = (int)j; k < toexclusive; k += numthreads) body ((int)k); _resets [ii].set (); ); lock (_resets) for (var i = 0; i < numthreads; i++) ThreadPool.QueueUserWorkItem (work, i); for (var i = 0; i < numthreads; i++) _resets [i].waitone (); public static void SerialFor(int frominclusive, int toexclusive, System.Action<int> body) for (var i = frominclusive; i < toexclusive; i++) body (i); ModifyController

27 using System.Collections; using System.Collections.Generic; using UnityEngine; public class ModifyController : MonoBehaviour public GameObject mod; // Update is called once per frame void Update () var ch = transform.find("controller_" + gameobject.name); if(ch!= null) var rm = ch.find("steamvr_rendermodel"); if (rm!= null) if(mod.name == "indicator") var _mod = rm.find(mod.name + "(Clone)"); if (_mod == null) Instantiate(mod, rm.transform.position, rm.transform.rotation, rm); else if(!_mod.gameobject.activeinhierarchy) _mod.gameobject.setactive(true); else var trackpad = rm.find("trackpad"); if (trackpad!= null) var _mod = trackpad.find(mod.name + "(Clone)"); if (_mod == null) Instantiate(mod, trackpad.transform.position, trackpad.transform.rotation, trackpad); Mathh using System.Collections; using System.Collections.Generic; using UnityEngine; public static class Mathh public static int Sign(int value) if (value < 0) return -1; return 1; GPUField using System; using System.Collections;

28 using System.Collections.Generic; using System.Runtime.InteropServices; using UnityEngine; public class GPUField : Singleton<GPUField> public struct ChargeStruct public Vector3 position; public int value; public ComputeShader computeshader; ComputeBuffer charges; ComputeBuffer positions; ChargeStruct[] chargesarr = new ChargeStruct[0]; int stridecharge; int stridevector3; int kernelindex; int warpcount; const int WARP_SIZE = 128; Vector3[] p; void Start() stridecharge = Marshal.SizeOf(typeof(ChargeStruct)); stridevector3 = Marshal.SizeOf(typeof(Vector3)); kernelindex = computeshader.findkernel("computefield"); charges = new ComputeBuffer(Simulation.Instance.passCount, stridecharge); positions = new ComputeBuffer(Simulation.Instance.passCount * 6 * 10, stridevector3); computeshader.setbuffer(kernelindex, "Charges", charges); computeshader.setbuffer(kernelindex, "Positions", positions); computeshader.setfloat("maxdistance", Simulation.Instance.maxDistance); computeshader.setfloat("k", Simulation.Instance.k); computeshader.setint("n", 10); computeshader.setfloat("linestep", 0.1f); public void GetPositions(ref Vector3[] positionsarr, ref ChargeStruct[] chargesarr) computeshader.setint("chargescount", chargesarr.length); charges.setdata(chargesarr); computeshader.dispatch(kernelindex, 1, 1, 1); positions.getdata(positionsarr);

29 protected override void OnDestroy() base.ondestroy(); if(charges!= null) charges.release(); if(positions!= null) positions.release(); ChargeParser using System.Collections; using System.Collections.Generic; using System.IO; using UnityEngine; public class ChargeParser : Singleton<ChargeParser> public GameObject charge; // Use this for initialization void Start () if(file.exists("input.txt")) using (StreamReader sr = new StreamReader("input.txt")) int count = int.parse(sr.readline()); for (int i = 0; i < count; i++) string[] s = sr.readline().split(' '); int value = int.parse(s[0]); Vector3 position = new Vector3( float.parse(s[1]), float.parse(s[2]), float.parse(s[3]) ); var go = Instantiate(charge, position, Quaternion.identity); var ch = go.getcomponent<charge>(); ch.rb.iskinematic = false; ch.rb.interpolation = RigidbodyInterpolation.Interpolate; ch.active = true; ch.value = value; ch.init(); Simulation.Instance.AddCharge(ch); Charge using System; using System.Collections; using System.Collections.Generic; using UnityEngine; using UnityEngine.Events;

30 using Valve.VR.InteractionSystem; [RequireComponent(typeof(MeshRenderer))] public class Charge : MonoBehaviour 1]); private int _value; public int Value get return _value; set int abs = Mathf.Abs(value); if (abs > 4) throw new ArgumentOutOfRangeException("value"); transform.localscale = new Vector3 (scales[abs - 1], scales[abs - 1], scales[abs - if (value > 0) meshrenderer.material = positive; for (int i = 0; i < 6; i++) linerenderers[i].material = linepositive; else if (value < 0) meshrenderer.material = negative; for (int i = 0; i < 6; i++) linerenderers[i].material = linenegative; _value = value; public bool active = false; public Material positive; public Material negative; public Material linepositive; public Material linenegative; public Vector3 position get return transform.position; Rigidbody _rigidbody; public Rigidbody rb get if(_rigidbody == null) _rigidbody = GetComponent<Rigidbody>();

31 return _rigidbody; Vector3 velocity; Vector3 angularvelocity; public Vector3 acceleration get; set; public float[] scales = new float[] 0.045f, 0.065f, 0.095f, 0.12f ; public MeshRenderer meshrenderer; public Interactable interactable; public Pickable pickable; public LineRenderer[] linerenderers = new LineRenderer[6]; public UnityEvent onpickup; public int segments; public float step; float prevupdate = -1f; Vector3[,] prevpositions; Vector3[,] positions; Vector3[] current; private object _lock = new object(); public Charge() void Start() pickable.onpickup.addlistener(onpickup); public void Init() for (int i =0; i < 6; i++) linerenderers[i].enabled = true; //prevpositions = new Vector3[6, segments]; //positions = new Vector3[6, segments]; //current = new Vector3[segments]; void OnPickUp()

32 onpickup.invoke(); public void SaveVelocity() velocity = rb.velocity; angularvelocity = rb.angularvelocity; public void RestoreVelocity() rb.velocity = velocity; rb.angularvelocity = angularvelocity; public void UpdateLinesGPU(int i, ref Vector3[] positions) linerenderers[i].setpositions(positions); public void UpdateLines() UpdateLinesRealistic(); //UpdateLinesSimple(); public void UpdateLinesSimple() int n = linerenderers[0].positioncount; float linestep = 0.5f / n; Vector3 v; var positions = new Vector3[n]; positions[0] = transform.position; var other = Simulation.Instance.GetClosestCharge(this, this.position); //+Z v = new Vector3(0, 0, linestep); for (int i = 1; i < n; i++) positions[i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(this, v).normalized * linestep; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(other, v).normalized * linestep; linerenderers[0].setpositions(positions); //+X v = new Vector3(lineStep, 0, 0); for (int i = 1; i < n; i++) positions[i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(this, v).normalized * linestep; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(other, v).normalized * linestep;

33 linerenderers[1].setpositions(positions); //-Z v = new Vector3(0, 0, -linestep); for (int i = 1; i < n; i++) positions[i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(this, v).normalized * linestep; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(other, v).normalized * linestep; linerenderers[2].setpositions(positions); //-X v = new Vector3(-lineStep, 0, 0); for (int i = 1; i < n; i++) positions[i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(this, v).normalized * linestep; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(other, v).normalized * linestep; linerenderers[3].setpositions(positions); //-Y v = new Vector3(0, -linestep, 0); for (int i = 1; i < n; i++) positions[i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(this, v).normalized * linestep; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(other, v).normalized * linestep; linerenderers[4].setpositions(positions); //+Y v = new Vector3(0, +linestep, 0); for (int i = 1; i < n; i++) positions[i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(this, v).normalized * linestep; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(other, v).normalized * linestep; linerenderers[5].setpositions(positions);

34 public void UpdateLinesRealistic() int n = linerenderers[0].positioncount; float linestep = 0.5f / n; Vector3 v; var positions = new Vector3[n]; positions[0] = transform.position; //+Z v = new Vector3(0, 0, linestep); for (int i = 1; i < n; i++) positions[i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep; linerenderers[0].setpositions(positions); //+X v = new Vector3(lineStep, 0, 0); for (int i = 1; i < n; i++) positions[i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep; linerenderers[1].setpositions(positions); //-Z v = new Vector3(0, 0, -linestep); for (int i = 1; i < n; i++) positions[i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep; linerenderers[2].setpositions(positions); //-X v = new Vector3(-lineStep, 0, 0); for (int i = 1; i < n; i++) positions[i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep; linerenderers[3].setpositions(positions); //-Y v = new Vector3(0, -linestep, 0); for (int i = 1; i < n; i++) positions[i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep; linerenderers[4].setpositions(positions);

35 //+Y v = new Vector3(0, +linestep, 0); for (int i = 1; i < n; i++) positions[i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep; linerenderers[5].setpositions(positions); public void InitLines() for (int i = 0; i < 6; i++) positions[i, 0] = transform.position; float linestep = 0.5f / segments; Vector3 v; v = new Vector3(0, 0, linestep); for (int i = 1; i < segments; i++) positions[0, i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep; //+X v = new Vector3(lineStep, 0, 0); for (int i = 1; i < segments; i++) positions[1, i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep; //-Z v = new Vector3(0, 0, -linestep); for (int i = 1; i < segments; i++) positions[2, i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep; //-X v = new Vector3(-lineStep, 0, 0); for (int i = 1; i < segments; i++) positions[3, i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep; //-Y v = new Vector3(0, -linestep, 0);

36 for (int i = 1; i < segments; i++) positions[4, i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep; //+Y v = new Vector3(0, +linestep, 0); for (int i = 1; i < segments; i++) positions[5, i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep; StartCoroutine(UpdateLinesAsync()); IEnumerator UpdateLinesAsync() while (true) Array.Copy(positions, prevpositions, positions.length); if (Time.time - prevupdate >= step) for (int i = 0; i < 6; i++) positions[i, 0] = transform.position; float linestep = 0.5f / segments; Vector3 v; v = new Vector3(0, 0, linestep); for (int i = 1; i < segments; i++) positions[0, i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep; //+X v = new Vector3(lineStep, 0, 0); for (int i = 1; i < segments; i++) positions[1, i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep; //-Z v = new Vector3(0, 0, -linestep); for (int i = 1; i < segments; i++) positions[2, i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep;

37 //-X v = new Vector3(-lineStep, 0, 0); for (int i = 1; i < segments; i++) positions[3, i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep; //-Y v = new Vector3(0, -linestep, 0); for (int i = 1; i < segments; i++) positions[4, i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep; //+Y v = new Vector3(0, +linestep, 0); for (int i = 1; i < segments; i++) positions[5, i] = v; v -= Mathh.Sign(Value) * Simulation.Instance.GetField(v).normalized * linestep; prevupdate = Time.time; float t = (Time.time - prevupdate) / step; for (int i = 0; i < 6; i++) for (int j = 0; j < segments; j++) current[j] = Vector3.Lerp(prevPositions[i, j], positions[i, j], t); linerenderers[i].setpositions(current); yield return new WaitForEndOfFrame();

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