n_trajectory.h

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/*
 * Nilorea Library
 * Copyright (C) 2005-2026 Castagnier Mickael
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef _N_TRAJECTORY_HEADER
#define _N_TRAJECTORY_HEADER
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "n_3d.h"
 
#define TRAJECTORY_INTERP 1
#define TRAJECTORY_EXTRAP 2
#define TRAJECTORY_BEFORE 3
 
#define TRAJECTORY_2D 2
#define TRAJECTORY_3D 3
 
typedef struct TRAJECTORY_POINT {
    PHYSICS state;
    double time_val;
} TRAJECTORY_POINT;
 
typedef struct TRAJECTORY {
    PHYSICS start;
    PHYSICS end;
    PHYSICS current;
 
    double start_time;
    double end_time;
    double duration;
    double current_time;
 
    VECTOR3D m0;
    VECTOR3D m1;
    VECTOR3D m0_orient;
    VECTOR3D m1_orient;
 
    TRAJECTORY_POINT* points;
    int nb_points;
    int nb_points_allocated;
    int current_segment;
 
    int nb_components;
    int mode;
} TRAJECTORY;
 
TRAJECTORY* trajectory_new(int nb_components);
void trajectory_delete(TRAJECTORY** traj);
 
int trajectory_set_start(TRAJECTORY* traj, const PHYSICS* state, double time_val);
int trajectory_set_end(TRAJECTORY* traj, const PHYSICS* state, double time_val);
int trajectory_update(TRAJECTORY* traj, const PHYSICS* new_end, double time_val);
 
int trajectory_compute(TRAJECTORY* traj, double time_val);
int trajectory_get_position(TRAJECTORY* traj, double time_val, VECTOR3D out);
int trajectory_get_speed(TRAJECTORY* traj, double time_val, VECTOR3D out);
int trajectory_get_acceleration(TRAJECTORY* traj, double time_val, VECTOR3D out);
int trajectory_get_orientation(TRAJECTORY* traj, double time_val, VECTOR3D out);
 
int trajectory_add_point(TRAJECTORY* traj, const PHYSICS* state, double time_val);
int trajectory_clear_points(TRAJECTORY* traj);
 
double trajectory_distance(TRAJECTORY* traj, double time_a, double time_b, int steps);
 
#ifdef __cplusplus
}
#endif
 
#endif  // header guard