gullradriel/nilorea-library
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions
Page: n__trajectory_8h
Pages
Examples Files Home Module AABB3D Module ACCEPT_POOL Module ALLEGRO4 Module ALLEGRO5 Module ANIM_LIB Module ASTAR Module ATLAS_LIB Module AVRO Module CLOCK_SYNC Module COMMONS Module CONFIGFILE Module CYPHER_BASE64 Module CYPHER_VIGENERE Module DEAD_RECKONING Module ENUMS Module EXCEPTIONS Module GAME_ENV Module GIT Module GUI Module HASH_TABLE Module ISOMETRIC_ENGINE Module LIST Module LOG Module LOGNODUP Module LZ4 Module NETWORKING Module NETWORK_MSG Module N_COOKIES Module N_DIFF Module N_DIGEST Module N_DISK_CACHE Module N_DNS Module N_ECC Module N_ENTROPY Module N_FILES Module N_FLUIDS Module N_GUI_COLOR Module N_GUI_COLORWHEEL Module N_GUI_CURVE Module N_GUI_GRID Module N_GUI_POPUP Module N_HEX Module N_HTTP3 Module N_HTTP_COOKIE Module N_HTTP_FORM Module N_HTTP_MIME Module N_HTTP_REQ Module N_HTTP_RESP Module N_HTTP_ROUTER Module N_HTTP_SERVER Module N_ICC Module N_JSON Module N_KAFKA Module N_LINALG Module N_MODULE Module N_OPENSSL_COMPAT Module N_PRETTY Module N_PTH Module N_QUERY Module N_RANDOM Module N_SHA256 Module N_STR Module N_TIFF Module N_TIME Module N_USER Module N_X509 Module N_ZIP Module PARTICLES Module PCRE Module PHYSICS Module SIGNALS Module STACK Module THREADS Module TRAJECTORY Module TREE Module ZLIB Modules Pages Struct A4_BMP Struct A4_TIMER Struct AABB3D Struct ANIM_DATA Struct ANIM_FRAME Struct ANIM_GFX Struct ANIM_LIB Struct ASTAR_BOX Struct ASTAR_CELL Struct ASTAR_GRID Struct ASTAR_HEAP Struct ASTAR_HEAP_NODE Struct ASTAR_NODE Struct ASTAR_PATH Struct AVRO_FIELD Struct AVRO_READER Struct AVRO_SCHEMA Struct BITMAP Struct CALLBACK_DATA Struct CA_CTX Struct CLIENT_JOB Struct CLIENT_STATE Struct CONFIG_FILE Struct CONFIG_FILE_SECTION Struct CYPHER_PARAM Struct DATA Struct DEMO_PANEL Struct DICTIONARY_DEFINITION Struct DICTIONARY_ENTRY Struct DIFF_OUT Struct DIFF_TEXT Struct DRAW_STATE Struct DR_ENTITY Struct DR_STATE Struct DR_VEC3 Struct ExceptionContextList Struct FONT Struct GAME_ENV Struct H2BUF Struct H2_DYN_ENTRY Struct H2_STREAM Struct HASH_NODE Struct HASH_TABLE Struct ISO_DRAW_ENTRY Struct ISO_MAP Struct ISO_PROJECTION Struct ISO_TILE_SEGMENT Struct ISO_TILE_SEGMENTS Struct ISO_VISIBLE_EDGES Struct JS_STATE Struct LEX_ITEM Struct LIST Struct LIST_NODE Struct LOG_LEVELS Struct LexMenu Struct MEMBER Struct MIDI Struct NESTED Struct NETWORK Struct NETWORK_HTTP_INFO Struct NETWORK_POOL Struct NETWORK_SSL_THREAD_PARAMS Struct NETW_ACCEPT_POOL Struct NETW_ACCEPT_POOL_STATS Struct NETW_MSG Struct NETW_SNI_ARG Struct NODE_DATA Struct N_ATLAS Struct N_ATLAS_PAGE Struct N_CLOCK_SYNC Struct N_COOKIE Struct N_COOKIE_JAR Struct N_DIFF_LINE Struct N_DIFF_RESULT Struct N_DISK_CACHE Struct N_ENTROPY_BIT Struct N_ENTROPY_POS Struct N_FILE_INFO Struct N_FLUID Struct N_FLUID_THREAD_PARAMS Struct N_FORM_FIELD Struct N_GIT_COMMIT_INFO Struct N_GIT_REMOTE_AUTH Struct N_GIT_REPO Struct N_GIT_STATUS_ENTRY Struct N_GUI_BUTTON_DATA Struct N_GUI_CHECKBOX_DATA Struct N_GUI_COLOR_PICKER Struct N_GUI_COMBOBOX_DATA Struct N_GUI_CTX Struct N_GUI_CUSTOM_DATA Struct N_GUI_DATAGRID_COL Struct N_GUI_DATAGRID_DATA Struct N_GUI_DROPMENU_DATA Struct N_GUI_DROPMENU_ENTRY Struct N_GUI_GRID_CALLBACKS Struct N_GUI_HEXVIEW_DATA Struct N_GUI_IMAGE_DATA Struct N_GUI_KVTABLE Struct N_GUI_KV_CONTENT Struct N_GUI_KV_ROW Struct N_GUI_LABEL_DATA Struct N_GUI_LISTBOX_DATA Struct N_GUI_LISTITEM Struct N_GUI_MARKDOWNVIEW_DATA Struct N_GUI_MD_FONTS Struct N_GUI_MD_STYLE Struct N_GUI_MEAS_ENTRY Struct N_GUI_MOUSE_EVENT Struct N_GUI_PENDING_GEOM Struct N_GUI_PENDING_WIDGET Struct N_GUI_POPUP Struct N_GUI_PROGRESSBAR_DATA Struct N_GUI_RADIOLIST_DATA Struct N_GUI_SB_TRACK Struct N_GUI_SCROLLBAR_DATA Struct N_GUI_SECTION Struct N_GUI_SECTIONLIST Struct N_GUI_SLIDER_DATA Struct N_GUI_SPLITPANE_DATA Struct N_GUI_STYLE Struct N_GUI_SUGGEST_SINK Struct N_GUI_SYNTAXVIEW_DATA Struct N_GUI_TAB_PANEL Struct N_GUI_TB_BUTTONS Struct N_GUI_TEXTAREA_DATA Struct N_GUI_TEXT_DIMS Struct N_GUI_THEME Struct N_GUI_TREE Struct N_GUI_TREE_NODE Struct N_GUI_TREE_STATE Struct N_GUI_WIDGET Struct N_GUI_WINDOW Struct N_H2_FRAME Struct N_H2_HEADER Struct N_H2_HPACK Struct N_H2_REQUEST Struct N_H2_SERVER Struct N_H2_SETTING Struct N_HTML_ATTR_ Struct N_HTML_FORM Struct N_HTML_TAG_ Struct N_HTTP3_RESPONSE Struct N_HTTP_FIELD Struct N_HTTP_FORM Struct N_HTTP_FORM_MULTIPART Struct N_HTTP_FORM_PART Struct N_HTTP_MULTIPART_PART Struct N_HTTP_REQUEST Struct N_HTTP_RESP Struct N_HTTP_RESPONSE Struct N_HTTP_SERVER Struct N_HTTP_SERVER_CONFIG Struct N_HTTP_SERVER_REQUEST Struct N_HTTP_SERVER_STATS Struct N_HTTP_SET_COOKIE Struct N_HTTP_STREAM Struct N_ISO_CAMERA Struct N_ISO_OBJECT Struct N_KAFKA Struct N_KAFKA_EVENT Struct N_MOCK_SERVER Struct N_MODULE Struct N_PARALLEL_SLICE Struct N_PARALLEL_TEAM Struct N_PARALLEL_WORKER Struct N_PCRE Struct N_PROXY_CFG Struct N_PTH Struct N_PTH_TENSOR Struct N_QUERY Struct N_ROUTE Struct N_ROUTER Struct N_ROUTE_MATCH Struct N_SHA256 Struct N_SOCKET Struct N_SPAWN_PIPE Struct N_SSE_CONN Struct N_SSE_EVENT 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 ex__accept__pool__client_8c ex__accept__pool__server_8c ex__allegro__4_8c ex__atlas_8c ex__avro_8c ex__base64_8c ex__bind__exclusive_8c ex__clipboard_8c ex__clock__sync_8c ex__common_8c ex__configfile_8c ex__cookies_8c ex__crypto_8c ex__diff_8c ex__digest_8c ex__disk__cache_8c ex__dns_8c ex__ecc_8c ex__entropy_8c ex__exceptions_8c ex__file_8c ex__file__copy_8c ex__fluid_8c ex__fluid__config_8c ex__fluid__config_8h ex__git_8c ex__gui_8c ex__gui__bench_8c ex__gui__button__keys_8c ex__gui__checkbox__label_8c ex__gui__checkbox__release_8c ex__gui__color__picker_8c ex__gui__colorwheel_8c ex__gui__combobox__items_8c ex__gui__combobox__wheel_8c ex__gui__cursor_8c ex__gui__curve_8c ex__gui__custom_8c ex__gui__custom__mouse_8c ex__gui__datagrid_8c ex__gui__datagrid__keys_8c ex__gui__datagrid__sort_8c ex__gui__detach_8c ex__gui__dictionary_8c ex__gui__display__fallback_8c ex__gui__double__click_8c ex__gui__dropmenu_8c ex__gui__frameless__drag_8c ex__gui__global__scroll_8c ex__gui__glyph_8c ex__gui__grid_8c ex__gui__hexview_8c ex__gui__hover_8c ex__gui__isometric_8c ex__gui__kvtable_8c ex__gui__label__fits_8c ex__gui__label__lines_8c ex__gui__layout__persist_8c ex__gui__listbox_8c ex__gui__md_8c ex__gui__multiwin_8c ex__gui__network_8c ex__gui__particles_8c ex__gui__placeholder_8c ex__gui__popup_8c ex__gui__progressbar_8c ex__gui__reentrant_8c ex__gui__round_8c ex__gui__sectionlist_8c ex__gui__slider__default_8c ex__gui__slider__handle_8c ex__gui__slider__step_8c ex__gui__splitpane_8c ex__gui__suggest_8c ex__gui__syntaxview_8c ex__gui__text__shorten_8c ex__gui__textarea__selection_8c ex__gui__tooltip_8c ex__gui__tree__lazy_8c ex__gui__tree__order_8c ex__gui__tree__state_8c ex__gui__window__rect_8c ex__gui__zorder_8c ex__hash_8c ex__hex_8c ex__html_8c ex__http2_8c ex__http2__server_8c ex__http3_8c ex__http__cookie_8c ex__http__form_8c ex__http__mime_8c ex__http__req_8c ex__http__response_8c ex__http__router_8c ex__http__server_8c ex__icc_8c ex__iso__astar_8c ex__json_8c ex__kafka_8c ex__linalg_8c ex__list_8c ex__log_8c ex__markdown_8c ex__module_8c ex__monolith_8c ex__network_8c ex__network_8h ex__network__accept_8c ex__network__alpn_8c ex__network__connect__abort_8c ex__network__mock_8c ex__network__proxy_8c ex__network__reactor_8c ex__network__sni_8c ex__network__sse_8c ex__network__ssl_8c ex__network__ssl__hardened_8c ex__network__ssl__hostname_8c ex__network__ssl__nonblock_8c ex__network__tls__defaults_8c ex__network__ws_8c ex__network__ws__limits_8c ex__nstr_8c ex__parallel__for_8c ex__parallel__team_8c ex__pcre_8c ex__pretty_8c ex__pth_8c ex__query_8c ex__random_8c ex__sha256_8c ex__signals_8c ex__spawn_8c ex__ssrf_8c ex__stack_8c ex__thread__pool__discard_8c ex__thread__pool__wait_8c ex__threads_8c ex__tiff_8c ex__time__formats_8c ex__trajectory_8c ex__trees_8c ex__url_8c ex__url__safe_8c ex__wrap_8c ex__x509_8c ex__zip_8c ex__zlib_8c ex_accept_pool_client_8c example ex_accept_pool_server_8c example ex_allegro_4_8c example ex_atlas_8c example ex_base64_8c example ex_clock_sync_8c example ex_common_8c example ex_configfile_8c example ex_cookies_8c example ex_crypto_8c example ex_diff_8c example ex_digest_8c example ex_disk_cache_8c example ex_dns_8c example ex_ecc_8c example ex_entropy_8c example ex_exceptions_8c example ex_file_8c example ex_file_copy_8c example ex_fluid_8c example ex_fluid_config_8c example ex_fluid_config_8h example ex_git_8c example ex_gui_8c example ex_gui_bench_8c example ex_gui_button_keys_8c example ex_gui_checkbox_label_8c example ex_gui_checkbox_release_8c example ex_gui_color_picker_8c example ex_gui_colorwheel_8c example ex_gui_combobox_items_8c example ex_gui_combobox_wheel_8c example ex_gui_cursor_8c example ex_gui_curve_8c example ex_gui_custom_8c example ex_gui_custom_mouse_8c example ex_gui_datagrid_8c example ex_gui_datagrid_keys_8c example ex_gui_datagrid_sort_8c example ex_gui_detach_8c example ex_gui_dictionary_8c example ex_gui_display_fallback_8c example ex_gui_double_click_8c example ex_gui_dropmenu_8c example ex_gui_frameless_drag_8c example ex_gui_global_scroll_8c example ex_gui_glyph_8c example ex_gui_grid_8c example ex_gui_hexview_8c example ex_gui_hover_8c example ex_gui_isometric_8c example ex_gui_kvtable_8c example ex_gui_label_fits_8c example ex_gui_label_lines_8c example ex_gui_layout_persist_8c example ex_gui_listbox_8c example ex_gui_md_8c example ex_gui_multiwin_8c example ex_gui_network_8c example ex_gui_particles_8c example ex_gui_placeholder_8c example ex_gui_popup_8c example ex_gui_progressbar_8c example ex_gui_reentrant_8c example ex_gui_round_8c example ex_gui_sectionlist_8c example ex_gui_slider_default_8c example ex_gui_slider_handle_8c example ex_gui_slider_step_8c example ex_gui_splitpane_8c example ex_gui_suggest_8c example ex_gui_syntaxview_8c example ex_gui_text_shorten_8c example ex_gui_textarea_selection_8c example ex_gui_tooltip_8c example ex_gui_tree_lazy_8c example ex_gui_tree_order_8c example ex_gui_tree_state_8c example ex_gui_window_rect_8c example ex_gui_zorder_8c example ex_hash_8c example ex_hex_8c example ex_html_8c example ex_http2_8c example ex_http2_server_8c example ex_http_cookie_8c example ex_http_form_8c example ex_http_mime_8c example ex_http_req_8c example ex_http_response_8c example ex_http_router_8c example ex_http_server_8c example ex_icc_8c example ex_iso_astar_8c example ex_json_8c example ex_kafka_8c example ex_linalg_8c example ex_list_8c example ex_log_8c example ex_markdown_8c example ex_module_8c example ex_monolith_8c example ex_network_8c example ex_network_8h example ex_network_accept_8c example ex_network_alpn_8c example ex_network_connect_abort_8c example ex_network_mock_8c example ex_network_proxy_8c example ex_network_reactor_8c example ex_network_sni_8c example ex_network_sse_8c example ex_network_ssl_8c example ex_network_ssl_hardened_8c example ex_network_ssl_hostname_8c example ex_network_ssl_nonblock_8c example ex_network_tls_defaults_8c example ex_network_ws_8c 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 n__dead__reckoning_8h n__diff_8c n__diff_8h n__digest_8c n__digest_8h n__disk__cache_8c n__disk__cache_8h n__dns_8c n__dns_8h n__ecc_8c n__ecc_8h n__entropy_8c n__entropy_8h n__enum_8h n__exceptions_8c n__exceptions_8h n__files_8c n__files_8h n__fluids_8c n__fluids_8h n__games_8c n__games_8h n__git_8c n__git_8h n__gui_8c n__gui_8h n__gui__color_8c n__gui__color_8h n__gui__colorwheel_8c n__gui__colorwheel_8h n__gui__curve_8c n__gui__curve_8h n__gui__grid_8c n__gui__grid_8h n__gui__md_8c n__gui__md_8h n__gui__popup_8c n__gui__popup_8h n__hash_8c n__hash_8h n__hex_8c n__hex_8h n__html_8c n__html_8h n__http2_8c n__http2_8h n__http2__server_8c n__http2__server_8h n__http3_8c n__http3_8h n__http__cookie_8c n__http__cookie_8h n__http__form_8c n__http__form_8h n__http__mime_8c n__http__mime_8h n__http__req_8c n__http__req_8h n__http__response_8c n__http__response_8h n__http__router_8c n__http__router_8h n__http__server_8c n__http__server_8h n__icc_8c n__icc_8h n__iso__engine_8c n__iso__engine_8h n__json_8c n__json_8h n__kafka_8c n__kafka_8h n__linalg_8c n__linalg_8h n__list_8c n__list_8h n__log_8c n__log_8h n__lz4_8c n__lz4_8h n__markdown_8c n__markdown_8h n__module_8c n__module_8h n__network_8c n__network_8h n__network__accept__pool_8c n__network__accept__pool_8h n__network__msg_8c n__network__msg_8h n__nodup__log_8c n__nodup__log_8h n__openssl__compat_8h n__particles_8c n__particles_8h n__pcre_8c n__pcre_8h n__pretty_8c n__pretty_8h n__pth_8c n__pth_8h n__query_8c n__query_8h n__random_8c n__random_8h n__reactor_8c n__reactor_8h n__sha256_8c n__sha256_8h n__signals_8c n__signals_8h n__ssrf_8c n__ssrf_8h n__stack_8c n__stack_8h n__str_8c n__str_8h n__thread__pool_8c n__thread__pool_8h n__tiff_8c n__tiff_8h n__time_8c n__time_8h n__trajectory_8c n__trajectory_8h n__trees_8c n__trees_8h n__url__safe_8c n__url__safe_8h n__user_8c n__user_8h n__windows_8h n__wrap_8c n__wrap_8h n__x509_8c n__x509_8h n__zip_8c n__zip_8h n__zlib_8c n__zlib_8h nilorea_8h
6 n__trajectory_8h
gullradriel edited this page 2026-10-09 00:55:18 +02:00
Table of Contents

include/nilorea/n_trajectory.h

Trajectory interpolation and dead reckoning for 2D/3D networked simulations. More...

Structures

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

Detailed Description

Trajectory interpolation and dead reckoning for 2D/3D networked simulations.

Author: Castagnier Mickael

Version: 1.0

Date: 28/02/2026

Implementation of the "Defeating Lag With Cubic Splines" approach (GameDev.net Article 914 by Nicholas Van Caldwell) combined with cubic Hermite spline interpolation and quadratic extrapolation.

The API provides smooth movement prediction for networked games and local simulations by:

  • Using cubic Hermite spline interpolation between two known states (matching position and velocity at both endpoints)
  • Quadratic extrapolation beyond the known interval using velocity and acceleration
  • Smooth orientation interpolation using the same Hermite approach

Works for both 2D (xy) and 3D (xyz) coordinate systems.

Time units are user-defined: as long as position, speed, acceleration, and time values use consistent units, the math works. For example:

  • position in pixels, speed in pixels/sec, accel in pixels/sec^2, time in sec
  • position in meters, speed in m/usec, accel in m/usec^2, time in usec

Source code

/*
 * Nilorea Library
 * Copyright (C) 2005-2026 Castagnier Mickael
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
 * implied. See the License for the specific language governing
 * permissions and limitations under the License.
 *
 * SPDX-License-Identifier: Apache-2.0
 */


#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

Home

Modules