cinosmovepathinterpolatornurbs.h

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//******************************************************************************
//******************************************************************************
#ifndef INC_CINOSMOVEPATHINTERPOLATORNURBS_H
#define INC_CINOSMOVEPATHINTERPOLATORNURBS_H
//------------------------------------------------------------------------------
// defines
//------------------------------------------------------------------------------
//
//------------------------------------------------------------------------------
// includes
//------------------------------------------------------------------------------
//
// system
#include <inos.h>
#include <cinosnurbscurve.h>
#include <cinosmovepathinterpolator.h>
//
// C++
//
// project
//
//------------------------------------------------------------------------------
// struct definition
//------------------------------------------------------------------------------
//
struct SINOSNurbsPart
{
    double m_dStart;
    // part length
    double m_dLength;
    // part 1/length
    double m_dLength_1;
    CINOSMovePathSegment* m_pSegmentFirst;
    CINOSMovePathSegment* m_pSegmentActual;
    uint32 m_uSegmentActualIndex;
    uint32 m_uSegmentActualId;
    CINOSNurbsCurve<DF_INOS_MOVEPATH_MAX_AXES> m_Curve;
};
//
//------------------------------------------------------------------------------
// class definition
//------------------------------------------------------------------------------
// 
class CINOSMovePathInterpolatorNurbs : public CINOSMovePathInterpolator
{
    //--- user interface ---------------------------------------------------
 
    // public member functions
    public :
        
        virtual double GetCurveLength() override;
 
        virtual void GetPosition(double adP, CINOSMovePathSegment*& opSegment,
            TINOSMovePathVec& ovPos) override;
        virtual void GetDirection(double adP,
            TINOSMovePathVec& ovDir) override;
        virtual void GetDirectionLast(TINOSMovePathVec& ovDir) override;
        virtual void GetDerivative(uint32 auLevel, double adP,
            TINOSMovePathVec& ovDer) override;
        virtual void GetD2max(double adBgn, double adEnd, TINOSMovePathVec& aD2max) override;
        virtual void GetD3max(double adBgn, double adEnd, TINOSMovePathVec& aD3max) override;
 
        virtual uint32 Prepare() override;
    //--- internals --------------------------------------------------------
 
    // constructor / destructor
    public :
        CINOSMovePathInterpolatorNurbs (
                CINOSMovePathCurve* apCurve,
                CINOSMovePath* apPath = NULL);
        virtual ~CINOSMovePathInterpolatorNurbs () {
            CINOSMovePathInterpolatorNurbs::NurbsCleanup();
        };
 
 
        virtual uint32 PreparePart(
            CINOSMovePathSegmentBase* apBgn,
            CINOSMovePathSegmentBase* apEnd,
            CINOSMovePathSegmentBase* apNxt,
            double adTolerance, double adShorten = 0.0, double adExtend = 0.0);
        virtual SINOSNurbsPart* GetPart(double adP);
        virtual double CalcAngle(CINOSMovePathSegment* apSeg1,
            CINOSMovePathSegment* apSeg2);
        uint32 GetPartPoints(
            CINOSMovePathSegmentBase* apBgn,
            CINOSMovePathSegmentBase* apEnd,
            double adTolerance);
 
    protected :
    // protected member functions
        virtual void Cleanup() override;
 
    private:
    // private member functions
 
        void NurbsCleanup();
 
    protected :
 
    // protected members
        double m_dLength;
        uint32 m_uParts;
        uint32 m_uLastPart;
        SINOSNurbsPart* m_pPart[DF_INOS_MOVEPATH_MAX_POINTS];
        double m_dVectorLength[DF_INOS_MOVEPATH_MAX_POINTS>>1];
        double m_dVectorize;
        uint32 m_uInterpolationPoints = DF_INOS_NURBSCURVE_INTERPOLATION_POINTS;
        bool m_bOverlapPos{};
        TINOSMovePathVec m_OverlapPos{};
        double m_dOverlapExtend{};
 
    // dynamic
    DECLARE_DYNAMIC(CINOSMovePathInterpolatorNurbs);
};
 
//------------------------------------------------------------------------------
// end of file
//------------------------------------------------------------------------------
 
#endif  // INC_CINOSMOVEPATHINTERPOLATORNURBS_H