#include <stdio.h>
#include <string.h>
#include <math.h>
#include "nilorea/n_common.h"
#include "nilorea/n_log.h"
#include "nilorea/n_trajectory.h"
#include <allegro5/allegro.h>
#include <allegro5/allegro_primitives.h>
#include <allegro5/allegro_font.h>

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Data Structures
struct	WAYPOINT3D

Macros
#define	ALLEGRO_UNSTABLE 1

#define	DT (1.0 / FPS)

#define	FPS 60.0

#define	HEIGHT 600

#define	M_PI 3.14159265358979323846

#define	MAX_TRAIL 300

#define	MAX_WP2D 50

#define	NUM_WP3D 7

#define	PANEL_W 400

#define	WIDTH 800

Functions
static void	draw_2d_panel (ALLEGRO_FONT *font)

static void	draw_3d_axes (ALLEGRO_FONT *font)

static void	draw_3d_panel (ALLEGRO_FONT *font)

static void	draw_arrow (float x1, float y1, float x2, float y2, ALLEGRO_COLOR color, float thickness)

static void	draw_full_path_2d (void)

static void	draw_full_path_3d (void)

static void	draw_ground_grid (void)

static void	draw_trail (float trail[][2], int count, int head, ALLEGRO_COLOR base_color)

static void	handle_click_2d (float mx, float my)

static void	init_3d (void)

static void	init_physics_2d (PHYSICS *p, double px, double py, double vx, double vy)

static void	init_physics_3d (PHYSICS *p, double px, double py, double pz, double vx, double vy, double vz)

int	main (int argc, char *argv[])

static void	project_3d (double x, double y, double z, float sx, float sy)

static void	rebuild_2d_trajectory (void)

static void	reset_2d (void)

static void	trail_push_2d (float x, float y)

static void	trail_push_3d (float x, float y)

static void	update_3d_logic (void)

Variables
static int	running_2d = 0

static double	time_2d = 0.0

static double	time_3d = 0.0

static double	time_3d_end = 0.0

static float	trail_2d [300][2]

static int	trail_2d_count = 0

static int	trail_2d_head = 0

static float	trail_3d [300][2]

static int	trail_3d_count = 0

static int	trail_3d_head = 0

static TRAJECTORY *	traj_2d = NULL

static TRAJECTORY *	traj_3d = NULL

static const WAYPOINT3D	waypoints_3d [7]

static int	wp2d_count = 0

static const double	WP2D_SPEED = 80.0

static double	wp2d_t [50]

static double	wp2d_x [50]

static double	wp2d_y [50]

static const double	WP3D_DUR = 4.0

Data Structure Documentation

◆ WAYPOINT3D

struct WAYPOINT3D

Examples: ex_trajectory.c.

Definition at line 90 of file ex_trajectory.c.

Collaboration diagram for WAYPOINT3D:

Data Fields
double	vx
double	vy
double	vz
double	x
double	y
double	z

Macro Definition Documentation

◆ ALLEGRO_UNSTABLE

#define ALLEGRO_UNSTABLE 1

Definition at line 40 of file ex_trajectory.c.

◆ DT

#define DT (1.0 / FPS)

Examples: ex_trajectory.c.

Definition at line 46 of file ex_trajectory.c.

◆ FPS

#define FPS 60.0

Definition at line 45 of file ex_trajectory.c.

◆ HEIGHT

#define HEIGHT 600

Definition at line 43 of file ex_trajectory.c.

◆ M_PI

#define M_PI 3.14159265358979323846

Definition at line 62 of file ex_trajectory.c.

◆ MAX_TRAIL

#define MAX_TRAIL 300

Examples: ex_trajectory.c.

Definition at line 47 of file ex_trajectory.c.

◆ MAX_WP2D

#define MAX_WP2D 50

Examples: ex_trajectory.c.

Definition at line 71 of file ex_trajectory.c.

◆ NUM_WP3D

#define NUM_WP3D 7

Examples: ex_trajectory.c.

Definition at line 94 of file ex_trajectory.c.

◆ PANEL_W

#define PANEL_W 400

Examples: ex_trajectory.c.

Definition at line 44 of file ex_trajectory.c.

◆ WIDTH

#define WIDTH 800

Definition at line 42 of file ex_trajectory.c.

Function Documentation

◆ draw_2d_panel()

static void draw_2d_panel ( ALLEGRO_FONT * font )

static

Examples: ex_trajectory.c.

Definition at line 286 of file ex_trajectory.c.

References TRAJECTORY::current, TRAJECTORY::current_segment, draw_arrow(), draw_full_path_2d(), draw_trail(), HEIGHT, mode, TRAJECTORY::mode, TRAJECTORY::nb_points, PANEL_W, PHYSICS::position, running_2d, PHYSICS::speed, time_2d, trail_2d, trail_2d_count, trail_2d_head, traj_2d, TRAJECTORY_BEFORE, trajectory_compute(), TRAJECTORY_EXTRAP, TRAJECTORY_INTERP, wp2d_count, wp2d_x, and wp2d_y.

Referenced by main().

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◆ draw_3d_axes()

static void draw_3d_axes ( ALLEGRO_FONT * font )

static

Examples: ex_trajectory.c.

Definition at line 430 of file ex_trajectory.c.

References draw_arrow(), and project_3d().

Referenced by draw_3d_panel().

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◆ draw_3d_panel()

static void draw_3d_panel ( ALLEGRO_FONT * font )

static

Examples: ex_trajectory.c.

Definition at line 487 of file ex_trajectory.c.

References TRAJECTORY::current, TRAJECTORY::current_segment, draw_3d_axes(), draw_arrow(), draw_full_path_3d(), draw_ground_grid(), draw_trail(), HEIGHT, TRAJECTORY::nb_points, NUM_WP3D, PANEL_W, PHYSICS::position, project_3d(), PHYSICS::speed, time_3d, trail_3d, trail_3d_count, trail_3d_head, traj_3d, trajectory_compute(), waypoints_3d, and WIDTH.

Referenced by main().

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◆ draw_arrow()

static void draw_arrow	(	float	x1,
		float	y1,
		float	x2,
		float	y2,
		ALLEGRO_COLOR	color,
		float	thickness
	)

static

Examples: ex_trajectory.c.

Definition at line 147 of file ex_trajectory.c.

Referenced by draw_2d_panel(), draw_3d_axes(), and draw_3d_panel().

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◆ draw_full_path_2d()

static void draw_full_path_2d ( void )

static

Examples: ex_trajectory.c.

Definition at line 249 of file ex_trajectory.c.

References TRAJECTORY::nb_points, TRAJECTORY::points, TRAJECTORY_POINT::time_val, traj_2d, and trajectory_get_position().

Referenced by draw_2d_panel().

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◆ draw_full_path_3d()

static void draw_full_path_3d ( void )

static

Examples: ex_trajectory.c.

Definition at line 463 of file ex_trajectory.c.

References TRAJECTORY::nb_points, TRAJECTORY::points, project_3d(), TRAJECTORY_POINT::time_val, traj_3d, and trajectory_get_position().

Referenced by draw_3d_panel().

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◆ draw_ground_grid()

static void draw_ground_grid ( void )

static

Examples: ex_trajectory.c.

Definition at line 450 of file ex_trajectory.c.

References project_3d().

Referenced by draw_3d_panel().

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◆ draw_trail()

static void draw_trail	(	float	trail[][2],
		int	count,
		int	head,
		ALLEGRO_COLOR	base_color
	)

static

Examples: ex_trajectory.c.

Definition at line 159 of file ex_trajectory.c.

References MAX_TRAIL.

Referenced by draw_2d_panel(), and draw_3d_panel().

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◆ handle_click_2d()

static void handle_click_2d	(	float	mx,
		float	my
	)

static

Examples: ex_trajectory.c.

Definition at line 221 of file ex_trajectory.c.

References MAX_WP2D, PANEL_W, rebuild_2d_trajectory(), wp2d_count, WP2D_SPEED, wp2d_t, wp2d_x, and wp2d_y.

Referenced by main().

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◆ init_3d()

static void init_3d ( void )

static

Examples: ex_trajectory.c.

Definition at line 391 of file ex_trajectory.c.

References init_physics_3d(), NUM_WP3D, time_3d, time_3d_end, trail_3d_count, trail_3d_head, traj_3d, TRAJECTORY_3D, trajectory_add_point(), trajectory_new(), WAYPOINT3D::vx, WAYPOINT3D::vy, WAYPOINT3D::vz, waypoints_3d, WP3D_DUR, WAYPOINT3D::x, WAYPOINT3D::y, and WAYPOINT3D::z.

Referenced by main().

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◆ init_physics_2d()

static void init_physics_2d	(	PHYSICS *	p,
		double	px,
		double	py,
		double	vx,
		double	vy
	)

static

Examples: ex_trajectory.c.

Definition at line 108 of file ex_trajectory.c.

References PHYSICS::position, PHYSICS::speed, and VECTOR3D_SET.

Referenced by rebuild_2d_trajectory().

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◆ init_physics_3d()

static void init_physics_3d	(	PHYSICS *	p,
		double	px,
		double	py,
		double	pz,
		double	vx,
		double	vy,
		double	vz
	)

static

Examples: ex_trajectory.c.

Definition at line 114 of file ex_trajectory.c.

References PHYSICS::position, PHYSICS::speed, and VECTOR3D_SET.

Referenced by init_3d().

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◆ main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 584 of file ex_trajectory.c.

References TRAJECTORY::current, display, done, draw_2d_panel(), draw_3d_panel(), DT, FPS, handle_click_2d(), HEIGHT, init_3d(), LOG_ERR, LOG_NOTICE, n_abort(), n_log, TRAJECTORY::nb_points, PANEL_W, PHYSICS::position, reset_2d(), running_2d, set_log_level(), time_2d, trail_push_2d(), traj_2d, traj_3d, trajectory_compute(), trajectory_delete(), update_3d_logic(), and WIDTH.

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◆ project_3d()

static void project_3d	(	double	x,
		double	y,
		double	z,
		float *	sx,
		float *	sy
	)

static

Examples: ex_trajectory.c.

Definition at line 136 of file ex_trajectory.c.

References HEIGHT, M_PI, and PANEL_W.

Referenced by draw_3d_axes(), draw_3d_panel(), draw_full_path_3d(), draw_ground_grid(), and update_3d_logic().

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◆ rebuild_2d_trajectory()

static void rebuild_2d_trajectory ( void )

static

Examples: ex_trajectory.c.

Definition at line 179 of file ex_trajectory.c.

References init_physics_2d(), running_2d, traj_2d, trajectory_add_point(), trajectory_clear_points(), wp2d_count, wp2d_t, wp2d_x, and wp2d_y.

Referenced by handle_click_2d().

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◆ reset_2d()

static void reset_2d ( void )

static

Examples: ex_trajectory.c.

Definition at line 211 of file ex_trajectory.c.

References running_2d, time_2d, trail_2d_count, trail_2d_head, traj_2d, TRAJECTORY_2D, trajectory_delete(), trajectory_new(), and wp2d_count.

Referenced by main().

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◆ trail_push_2d()

static void trail_push_2d	(	float	x,
		float	y
	)

static

Examples: ex_trajectory.c.

Definition at line 120 of file ex_trajectory.c.

References MAX_TRAIL, trail_2d, trail_2d_count, and trail_2d_head.

Referenced by main().

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◆ trail_push_3d()

static void trail_push_3d	(	float	x,
		float	y
	)

static

Examples: ex_trajectory.c.

Definition at line 127 of file ex_trajectory.c.

References MAX_TRAIL, trail_3d, trail_3d_count, and trail_3d_head.

Referenced by update_3d_logic().

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◆ update_3d_logic()

static void update_3d_logic ( void )

static

Examples: ex_trajectory.c.

Definition at line 410 of file ex_trajectory.c.

References TRAJECTORY::current, DT, TRAJECTORY::nb_points, PHYSICS::position, project_3d(), time_3d, time_3d_end, trail_3d_count, trail_3d_head, trail_push_3d(), traj_3d, and trajectory_compute().

Referenced by main().

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Variable Documentation

◆ running_2d

int running_2d = 0

static

Examples: ex_trajectory.c.

Definition at line 68 of file ex_trajectory.c.

Referenced by draw_2d_panel(), main(), rebuild_2d_trajectory(), and reset_2d().

◆ time_2d

double time_2d = 0.0

static

Examples: ex_trajectory.c.

Definition at line 67 of file ex_trajectory.c.

Referenced by draw_2d_panel(), main(), and reset_2d().

◆ time_3d

double time_3d = 0.0

static

Examples: ex_trajectory.c.

Definition at line 82 of file ex_trajectory.c.

Referenced by draw_3d_panel(), init_3d(), and update_3d_logic().

◆ time_3d_end

double time_3d_end = 0.0

static

Examples: ex_trajectory.c.

Definition at line 83 of file ex_trajectory.c.

Referenced by init_3d(), and update_3d_logic().

◆ trail_2d

float trail_2d[300][2]

static

Examples: ex_trajectory.c.

Definition at line 76 of file ex_trajectory.c.

Referenced by draw_2d_panel(), and trail_push_2d().

◆ trail_2d_count

int trail_2d_count = 0

static

Examples: ex_trajectory.c.

Definition at line 77 of file ex_trajectory.c.

Referenced by draw_2d_panel(), reset_2d(), and trail_push_2d().

◆ trail_2d_head

int trail_2d_head = 0

static

Examples: ex_trajectory.c.

Definition at line 78 of file ex_trajectory.c.

Referenced by draw_2d_panel(), reset_2d(), and trail_push_2d().

◆ trail_3d

float trail_3d[300][2]

static

Examples: ex_trajectory.c.

Definition at line 85 of file ex_trajectory.c.

Referenced by draw_3d_panel(), and trail_push_3d().

◆ trail_3d_count

int trail_3d_count = 0

static

Examples: ex_trajectory.c.

Definition at line 86 of file ex_trajectory.c.

Referenced by draw_3d_panel(), init_3d(), trail_push_3d(), and update_3d_logic().

◆ trail_3d_head

int trail_3d_head = 0

static

Examples: ex_trajectory.c.

Definition at line 87 of file ex_trajectory.c.

Referenced by draw_3d_panel(), init_3d(), trail_push_3d(), and update_3d_logic().

◆ traj_2d

TRAJECTORY* traj_2d = NULL

static

Examples: ex_trajectory.c.

Definition at line 66 of file ex_trajectory.c.

Referenced by draw_2d_panel(), draw_full_path_2d(), main(), rebuild_2d_trajectory(), and reset_2d().

◆ traj_3d

TRAJECTORY* traj_3d = NULL

static

Examples: ex_trajectory.c.

Definition at line 81 of file ex_trajectory.c.

Referenced by draw_3d_panel(), draw_full_path_3d(), init_3d(), main(), and update_3d_logic().

◆ waypoints_3d

const WAYPOINT3D waypoints_3d[7]

static

Initial value:

= {
    {0.0, 0.0, 0.0, 2.0, 1.0, 0.5},
    {3.0, 2.0, 1.0, 1.0, 1.5, -0.5},
    {4.0, 4.0, -1.0, -1.0, 1.0, -1.0},
    {1.0, 5.0, -2.0, -2.0, 0.0, 0.5},
    {-2.0, 3.0, 0.0, -1.0, -1.5, 1.0},
    {-1.0, 1.0, 1.5, 1.0, -1.0, 0.0},
    {0.0, 0.0, 0.0, 2.0, 1.0, 0.5}, 
}

Examples: ex_trajectory.c.

Definition at line 95 of file ex_trajectory.c.

Referenced by draw_3d_panel(), and init_3d().

◆ wp2d_count

int wp2d_count = 0

static

Examples: ex_trajectory.c.

Definition at line 73 of file ex_trajectory.c.

Referenced by draw_2d_panel(), handle_click_2d(), rebuild_2d_trajectory(), and reset_2d().

◆ WP2D_SPEED

const double WP2D_SPEED = 80.0

static

Examples: ex_trajectory.c.

Definition at line 74 of file ex_trajectory.c.

Referenced by handle_click_2d().

◆ wp2d_t

double wp2d_t[50]

static

Examples: ex_trajectory.c.

Definition at line 72 of file ex_trajectory.c.

Referenced by handle_click_2d(), and rebuild_2d_trajectory().

◆ wp2d_x

double wp2d_x[50]

static

Examples: ex_trajectory.c.

Definition at line 72 of file ex_trajectory.c.

Referenced by draw_2d_panel(), handle_click_2d(), and rebuild_2d_trajectory().

◆ wp2d_y

double wp2d_y[50]

static

Examples: ex_trajectory.c.

Definition at line 72 of file ex_trajectory.c.

Referenced by draw_2d_panel(), handle_click_2d(), and rebuild_2d_trajectory().

◆ WP3D_DUR

const double WP3D_DUR = 4.0

static

Examples: ex_trajectory.c.

Definition at line 104 of file ex_trajectory.c.

Referenced by init_3d().

Data Structures

Macros

Functions

Variables

Data Structure Documentation

◆ WAYPOINT3D

Macro Definition Documentation

◆ ALLEGRO_UNSTABLE

◆ DT

◆ FPS

◆ HEIGHT

◆ M_PI

◆ MAX_TRAIL

◆ MAX_WP2D

◆ NUM_WP3D

◆ PANEL_W

◆ WIDTH

Function Documentation

◆ draw_2d_panel()

◆ draw_3d_axes()

◆ draw_3d_panel()

◆ draw_arrow()

◆ draw_full_path_2d()

◆ draw_full_path_3d()

◆ draw_ground_grid()

◆ draw_trail()

◆ handle_click_2d()

◆ init_3d()

◆ init_physics_2d()

◆ init_physics_3d()

◆ main()

◆ project_3d()

◆ rebuild_2d_trajectory()

◆ reset_2d()

◆ trail_push_2d()

◆ trail_push_3d()

◆ update_3d_logic()

Variable Documentation

◆ running_2d

◆ time_2d

◆ time_3d

◆ time_3d_end

◆ trail_2d

◆ trail_2d_count

◆ trail_2d_head

◆ trail_3d

◆ trail_3d_count

◆ trail_3d_head

◆ traj_2d

◆ traj_3d

◆ waypoints_3d

◆ wp2d_count

◆ WP2D_SPEED

◆ wp2d_t

◆ wp2d_x

◆ wp2d_y

◆ WP3D_DUR