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Struct N_STR Struct N_TIFF Struct N_TIFF_ENTRY Struct N_TIME Struct N_URL Struct N_URL_PARAM Struct N_USER Struct N_USERLIST Struct N_WS_CONN Struct N_WS_FRAME Struct N_WS_MESSAGE Struct N_ZIP_MEMBER Struct OCTREE Struct OCTREE_NODE Struct PARSER Struct PARTICLE Struct PARTICLE_EMITTER Struct PARTICLE_SYSTEM Struct PEER Struct PHYSICS Struct PK_OBJ Struct PK_VM Struct POINT2D Struct POINT3D Struct PRETTY_OUT Struct QNODE Struct QUADTREE Struct QUADTREE_NODE Struct REC Struct RGB Struct SAMPLE Struct SEEN Struct SHARER Struct SRV Struct SRV_ARG Struct STACK Struct STACK_ITEM Struct SYNTAX_RUN Struct THREAD_POOL Struct THREAD_POOL_NODE Struct THREAD_WAITING_PROC Struct TRAJECTORY Struct TRAJECTORY_POINT Struct TREE Struct TREE_NODE Struct TS_LOG Struct WAYPOINT3D Struct WORKER_ARG Struct ZIP_SINK Struct _N_DC_ENTRY Struct _N_DC_GROUP_ENTRY Struct _N_GUI_COLORWHEEL Struct _N_GUI_COLORWHEEL_BLOCK Struct _N_GUI_COLORWHEEL_MOUSE Struct _N_GUI_CURVE Struct _N_GUI_CURVE_BLOCK Struct _N_GUI_CURVE_MOUSE Struct _N_GUI_GRID Struct _N_GUI_POPUP_ENTRY Struct _N_GUI_POPUP_LEVEL Struct _N_GUI_SB_SKIN Struct _N_GUI_TA_STEP Struct _N_GUI_THUMB Struct _N_GUI_WRAP_ACC Struct _compiled Struct _conn Struct _ip_slot Struct _mp_param Struct _n_civil Struct _seg Struct client Struct collector Struct date_vector Struct md_atom Struct md_cells Struct md_hit Struct md_line_ctx Struct mline Struct n_http_req_header Struct n_http_req_limits Struct n_http_request Struct n_markdown_block Struct n_markdown_doc Struct n_markdown_inline Struct n_markdown_span Struct n_reactor_stats Struct n_url_safe Struct n_url_safe_head Struct n_wrap_item Struct producer_state Struct rects Struct reply Struct runner Struct sink Struct tbuf Struct wrap_hit Struct wrap_span Structures Union COORD_VALUE Union HASH_DATA Union NODE_DATA_TYPES Union STACK_DATA dir_310dcdd4703e877a6b99d5dc3fc54d27 dir_68267d1309a1af8e8297ef4c3efbcdba dir_d28a4824dc47e487b107a5db32ef43c4 dir_d44c64559bbebec7f509842c48db8b23 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example ex_network_ws_limits_8c example ex_nstr_8c example ex_parallel_for_8c example ex_parallel_team_8c example ex_pcre_8c example ex_pretty_8c example ex_pth_8c example ex_query_8c example ex_random_8c example ex_sha256_8c example ex_signals_8c example ex_spawn_8c example ex_ssrf_8c example ex_stack_8c example ex_threads_8c example ex_tiff_8c example ex_time_formats_8c example ex_trajectory_8c example ex_trees_8c example ex_url_8c example ex_url_safe_8c example ex_wrap_8c example ex_x509_8c example ex_zip_8c example ex_zlib_8c example mainpage_8dox n__3d_8c n__3d_8h n__aabb_8c n__aabb_8h n__allegro5_8c n__allegro5_8h n__allegro__4_8c n__allegro__4_8h n__anim_8c n__anim_8h n__astar_8c n__astar_8h n__atlas_8c n__atlas_8h n__avro_8c n__avro_8h n__base64_8c n__base64_8h n__clipboard_8c n__clipboard_8h n__clock__sync_8c n__clock__sync_8h n__common_8c n__common_8h n__config__file_8c n__config__file_8h n__cookies_8c n__cookies_8h n__crypto_8c n__crypto_8h n__dead__reckoning_8c 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6 Module TRAJECTORY
gullradriel edited this page 2026-10-29 20:54:40 +01:00
Table of Contents

TRAJECTORY: cubic Hermite spline dead reckoning and movement simulation for 2D/3D

Structures

Name
struct TRAJECTORY_POINT
a single waypoint in a multi-point trajectory path
struct TRAJECTORY
structure holding all data for trajectory interpolation / extrapolation

Functions

Name
int trajectory_update(TRAJECTORY * traj, const PHYSICS * new_end, double time_val)
shift: old end becomes new start, set a new end state (for continuous dead reckoning updates)
int trajectory_set_start(TRAJECTORY * traj, const PHYSICS * state, double time_val)
set the initial state and time of the trajectory
int trajectory_set_end(TRAJECTORY * traj, const PHYSICS * state, double time_val)
set the terminal state and time of the trajectory, recomputes Hermite tangents
TRAJECTORY * trajectory_new(int nb_components)
allocate a new trajectory for 2D or 3D use
int trajectory_get_speed(TRAJECTORY * traj, double time_val, VECTOR3D out)
compute only speed at given time, stores result in out
int trajectory_get_position(TRAJECTORY * traj, double time_val, VECTOR3D out)
compute only position at given time, stores result in out
int trajectory_get_orientation(TRAJECTORY * traj, double time_val, VECTOR3D out)
compute only orientation at given time, stores result in out
int trajectory_get_acceleration(TRAJECTORY * traj, double time_val, VECTOR3D out)
compute only acceleration at given time, stores result in out
double trajectory_distance(TRAJECTORY * traj, double time_a, double time_b, int steps)
distance along the trajectory between two times
void trajectory_delete(TRAJECTORY ** traj)
free a trajectory
int trajectory_compute(TRAJECTORY * traj, double time_val)
compute full state (position, speed, acceleration, orientation) at given time
int trajectory_clear_points(TRAJECTORY * traj)
clear all waypoints from the multi-point path
int trajectory_add_point(TRAJECTORY * traj, const PHYSICS * state, double time_val)
add a waypoint to the multi-point path (times must be strictly increasing)

Defines

Name
TRAJECTORY_INTERP
trajectory is interpolating along the cubic Hermite spline between start and end
TRAJECTORY_EXTRAP
trajectory is extrapolating beyond the end state using quadratic motion
TRAJECTORY_BEFORE
trajectory is extrapolating before the start state using quadratic motion
TRAJECTORY_3D
use 3 components (x,y,z) for trajectory computation
TRAJECTORY_2D
use 2 components (x,y) for trajectory computation

Functions Documentation

function trajectory_update

int trajectory_update(
    TRAJECTORY * traj,
    const PHYSICS * new_end,
    double time_val
)

shift: old end becomes new start, set a new end state (for continuous dead reckoning updates)

Parameters:

  • traj The trajectory to update
  • new_end The new physics state received (e.g. from a network packet)
  • time_val The timestamp of the new state

Return: TRUE or FALSE

Update the trajectory with a new end state (dead reckoning shift).

shift: old end becomes new start, set a new end state (for continuous dead reckoning updates)

The previous end state becomes the new start state, and the new state becomes the end. This is the core function for continuous dead reckoning: call it each time a new network update arrives to create a smooth spline from the current endpoint to the new one.

function trajectory_set_start

int trajectory_set_start(
    TRAJECTORY * traj,
    const PHYSICS * state,
    double time_val
)

set the initial state and time of the trajectory

Parameters:

  • traj The trajectory to configure
  • state The physics state at the start point
  • time_val The timestamp of this state

Return: TRUE or FALSE

Set the initial (start) state and time of the trajectory.

set the initial state and time of the trajectory

function trajectory_set_end

int trajectory_set_end(
    TRAJECTORY * traj,
    const PHYSICS * state,
    double time_val
)

set the terminal state and time of the trajectory, recomputes Hermite tangents

Parameters:

  • traj The trajectory to configure
  • state The physics state at the end point
  • time_val The timestamp of this state (must be > start_time)

Return: TRUE or FALSE

Set the terminal (end) state and time of the trajectory.

set the terminal state and time of the trajectory, recomputes Hermite tangents

Recomputes the Hermite tangent vectors.

function trajectory_new

TRAJECTORY * trajectory_new(
    int nb_components
)

allocate a new trajectory for 2D or 3D use

Parameters:

  • nb_components TRAJECTORY_2D (2) or TRAJECTORY_3D (3)

Return: A new TRAJECTORY or NULL on error

Allocate and initialize a new TRAJECTORY.

allocate a new trajectory for 2D or 3D use

function trajectory_get_speed

int trajectory_get_speed(
    TRAJECTORY * traj,
    double time_val,
    VECTOR3D out
)

compute only speed at given time, stores result in out

Parameters:

  • traj The trajectory
  • time_val The time at which to compute
  • out VECTOR3D to store the result

Return: TRUE or FALSE

Compute velocity at a given time.

compute only speed at given time, stores result in out

function trajectory_get_position

int trajectory_get_position(
    TRAJECTORY * traj,
    double time_val,
    VECTOR3D out
)

compute only position at given time, stores result in out

Parameters:

  • traj The trajectory
  • time_val The time at which to compute
  • out VECTOR3D to store the result

Return: TRUE or FALSE

Compute position at a given time.

compute only position at given time, stores result in out

This is a lightweight version of trajectory_compute that only computes position.

function trajectory_get_orientation

int trajectory_get_orientation(
    TRAJECTORY * traj,
    double time_val,
    VECTOR3D out
)

compute only orientation at given time, stores result in out

Parameters:

  • traj The trajectory
  • time_val The time at which to compute
  • out VECTOR3D to store the result

Return: TRUE or FALSE

Compute orientation at a given time.

compute only orientation at given time, stores result in out

function trajectory_get_acceleration

int trajectory_get_acceleration(
    TRAJECTORY * traj,
    double time_val,
    VECTOR3D out
)

compute only acceleration at given time, stores result in out

Parameters:

  • traj The trajectory
  • time_val The time at which to compute
  • out VECTOR3D to store the result

Return: TRUE or FALSE

Compute acceleration at a given time.

compute only acceleration at given time, stores result in out

function trajectory_distance

double trajectory_distance(
    TRAJECTORY * traj,
    double time_a,
    double time_b,
    int steps
)

distance along the trajectory between two times

Parameters:

  • traj The trajectory
  • time_a Start time
  • time_b End time
  • steps Number of integration steps (higher = more precise, 100 is usually enough)

Return: The approximate distance, or -1.0 on error

Compute the approximate arc length (distance traveled) along the trajectory between two times, using numerical integration with the given number of steps.

distance along the trajectory between two times

function trajectory_delete

void trajectory_delete(
    TRAJECTORY ** traj
)

free a trajectory

Parameters:

Free a TRAJECTORY and set the pointer to NULL.

free a trajectory

function trajectory_compute

int trajectory_compute(
    TRAJECTORY * traj,
    double time_val
)

compute full state (position, speed, acceleration, orientation) at given time

Parameters:

  • traj The trajectory
  • time_val The time at which to compute the state

Return: TRUE or FALSE

Compute the full state (position, speed, acceleration, orientation, angular_speed) at a given time using cubic Hermite interpolation (within the interval) or quadratic extrapolation (outside the interval).

compute full state (position, speed, acceleration, orientation) at given time

function trajectory_clear_points

int trajectory_clear_points(
    TRAJECTORY * traj
)

clear all waypoints from the multi-point path

Parameters:

  • traj The trajectory

Return: TRUE or FALSE

Clear all waypoints from the multi-point path.

clear all waypoints from the multi-point path

Keeps the allocated memory for reuse. Resets start/end/duration.

function trajectory_add_point

int trajectory_add_point(
    TRAJECTORY * traj,
    const PHYSICS * state,
    double time_val
)

add a waypoint to the multi-point path (times must be strictly increasing)

Parameters:

  • traj The trajectory
  • state The physics state at this waypoint
  • time_val The timestamp of this waypoint (must be > previous point's time)

Return: TRUE or FALSE

Add a waypoint to the multi-point trajectory path.

add a waypoint to the multi-point path (times must be strictly increasing)

Waypoints must be added in strictly increasing chronological order. When 2+ waypoints exist, trajectory_compute and trajectory_get_* functions automatically find and interpolate the correct segment.

Macros Documentation

define TRAJECTORY_INTERP

#define TRAJECTORY_INTERP 1

trajectory is interpolating along the cubic Hermite spline between start and end

define TRAJECTORY_EXTRAP

#define TRAJECTORY_EXTRAP 2

trajectory is extrapolating beyond the end state using quadratic motion

define TRAJECTORY_BEFORE

#define TRAJECTORY_BEFORE 3

trajectory is extrapolating before the start state using quadratic motion

define TRAJECTORY_3D

#define TRAJECTORY_3D 3

use 3 components (x,y,z) for trajectory computation

define TRAJECTORY_2D

#define TRAJECTORY_2D 2

use 2 components (x,y) for trajectory computation

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