UNITY贝塞尔曲线Bezier的一个细节

最近研究AI飞行轨迹需要贝塞尔曲线的相关知识，查阅网上的资料后发现了一个被引用多次的C#贝塞尔函数代码

[System.Serializable]

public class Bezier : System.Object
	
{
	
	public Vector3 p0;
	
	public Vector3 p1;
	
	public Vector3 p2;
	
	public Vector3 p3;
	
	public float ti = 0f;
	
	private Vector3 b0 = Vector3.zero;
	
	private Vector3 b1 = Vector3.zero;
	
	private Vector3 b2 = Vector3.zero;
	
	private Vector3 b3 = Vector3.zero;
	
	private float Ax;
	
	private float Ay;
	
	private float Az;
	
	private float Bx;
	
	private float By;
	
	private float Bz;
	
	private float Cx;
	
	private float Cy;
	
	private float Cz;
	
	// Init function v0 = 1st point, v1 = handle of the 1st point , v2 = handle of the 2nd point, v3 = 2nd point
	
	// handle1 = v0 + v1
	
	// handle2 = v3 + v2
	
	public Bezier( Vector3 v0, Vector3 v1, Vector3 v2, Vector3 v3 )
		
	{
		
		this.p0 &#