mirror of
https://github.com/OpenSpace/OpenSpace.git
synced 2026-04-24 04:58:59 -05:00
Emma Broman
90 lines
3.7 KiB
C++
90 lines
3.7 KiB
C++
/*****************************************************************************************
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* *
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* OpenSpace *
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* *
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* Copyright (c) 2014-2019 *
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* *
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* Permission is hereby granted, free of charge, to any person obtaining a copy of this *
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* software and associated documentation files (the "Software"), to deal in the Software *
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* without restriction, including without limitation the rights to use, copy, modify, *
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* merge, publish, distribute, sublicense, and/or sell copies of the Software, and to *
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* permit persons to whom the Software is furnished to do so, subject to the following *
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* conditions: *
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* *
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* The above copyright notice and this permission notice shall be included in all copies *
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* or substantial portions of the Software. *
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* *
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, *
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* INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A *
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* PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT *
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF *
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* CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE *
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* OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. *
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****************************************************************************************/
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#ifndef __OPENSPACE_MODULE_AUTONAVIGATION___PATHCURVE___H__
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#define __OPENSPACE_MODULE_AUTONAVIGATION___PATHCURVE___H__
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#include <modules/autonavigation/waypoint.h>
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#include <ghoul/glm.h>
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#include <vector>
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namespace openspace::autonavigation {
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// TODO: move to pathsegment.h instead
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enum CurveType {
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AvoidCollision,
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Bezier3,
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Linear,
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ZoomOutOverview
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};
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class PathCurve {
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public:
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virtual ~PathCurve() = 0;
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const double length() const;
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glm::dvec3 positionAt(double relativeLength);
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// compute curve parameter that matches the input arc length s
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double curveParameter(double s);
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virtual glm::dvec3 interpolate(double u) = 0;
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std::vector<glm::dvec3> getPoints(); // for debugging
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protected:
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// TODO: give a better name after experimental curve types have been added
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void initParameterIntervals();
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double approximatedDerivative(double u, double h = 1E-7);
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double arcLength(double limit = 1.0);
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double arcLength(double lowerLimit, double upperLimit);
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std::vector<glm::dvec3> _points;
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unsigned int _nrSegments;
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std::vector<double> _parameterIntervals;
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std::vector<double> _lengths;
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std::vector<double> _lengthSums;
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double _totalLength;
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};
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// TODO: Put path curve classes in separate files
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class Bezier3Curve : public PathCurve {
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public:
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Bezier3Curve(const Waypoint& start, const Waypoint& end);
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glm::dvec3 interpolate(double u);
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};
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class LinearCurve : public PathCurve {
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public:
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LinearCurve(const Waypoint& start, const Waypoint& end);
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glm::dvec3 interpolate(double u);
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};
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} // namespace openspace::autonavigation
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#endif // __OPENSPACE_MODULE_AUTONAVIGATION___PATHCURVE___H__
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