path.cpp

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// SPDX-License-Identifier: GPL-2.0-only
//
// Copyright (c) 2006-2008 Marc Brooker and Michael Inggs
// Copyright (c) 2008-present FERS Contributors (see AUTHORS.md).
//
// See the GNU GPLv2 LICENSE file in the FERS project root for more information.
 
/**
 * @file path.cpp
 * @brief Implementation of the Path class.
 */
 
#include "path.h"
 
#include <algorithm>
#include <cstddef>
 
#include "coord.h"
#include "core/logging.h"
#include "geometry_ops.h"
#include "path_utils.h"
 
using logging::Level;
 
namespace math
{
    void Path::addCoord(const Coord& coord) noexcept
    {
        auto comp = [](const Coord& a, const Coord& b) { return a.t < b.t; };
 
        const auto iter = std::ranges::lower_bound(_coords, coord, comp);
        _coords.insert(iter, coord);
        _final = false;
    }
 
    Vec3 Path::getPosition(const RealType t) const
    {
        if (!_final)
        {
            LOG(Level::FATAL, "Finalize not called before GetPosition");
            throw PathException("Finalize not called before GetPosition");
        }
 
        Coord coord{};
        switch (_type)
        {
        case InterpType::INTERP_STATIC:
            getPositionStatic(coord, _coords);
            break;
        case InterpType::INTERP_LINEAR:
            getPositionLinear(t, coord, _coords);
            break;
        case InterpType::INTERP_CUBIC:
            getPositionCubic(t, coord, _coords, _dd);
            break;
        }
        return coord.pos;
    }
 
    Vec3 Path::getVelocity(const RealType t) const
    {
        if (!_final)
        {
            LOG(Level::FATAL, "Finalize not called before GetVelocity");
            throw PathException("Finalize not called before GetVelocity");
        }
 
        if (_coords.empty())
        {
            return {0, 0, 0};
        }
 
        switch (_type)
        {
        case InterpType::INTERP_STATIC:
            return {0, 0, 0};
 
        case InterpType::INTERP_LINEAR:
            {
                auto xrp = std::ranges::upper_bound(_coords, t, {}, &Coord::t);
                auto idx = std::distance(_coords.begin(), xrp);
 
                // Clamp to valid segments
                if (idx <= 0)
                    idx = 1;
                if (static_cast<std::size_t>(idx) >= _coords.size())
                    idx = static_cast<decltype(idx)>(_coords.size() - 1);
 
                if (idx < 1 || static_cast<std::size_t>(idx) >= _coords.size())
                    return {0, 0, 0}; // Should not happen if size >= 1 and clamp works
 
                const auto right_idx = static_cast<std::size_t>(idx);
                const auto left_idx = right_idx - 1;
 
                const auto& p1 = _coords[left_idx];
                const auto& p2 = _coords[right_idx];
                const RealType dt = p2.t - p1.t;
 
                if (dt <= EPSILON)
                    return {0, 0, 0};
 
                return (p2.pos - p1.pos) / dt;
            }
 
        case InterpType::INTERP_CUBIC:
            {
                auto xrp = std::ranges::upper_bound(_coords, t, {}, &Coord::t);
                std::ptrdiff_t xri;
                if (xrp == _coords.begin())
                    xri = 1;
                else if (xrp == _coords.end())
                    xri = static_cast<std::ptrdiff_t>(_coords.size() - 1);
                else
                    xri = std::distance(_coords.begin(), xrp);
 
                if (xri < 1 || static_cast<std::size_t>(xri) >= _coords.size())
                    return {0, 0, 0};
 
                const auto right_idx = static_cast<std::size_t>(xri);
                const auto left_idx = right_idx - 1;
 
                const RealType h = _coords[right_idx].t - _coords[left_idx].t;
                if (h <= EPSILON)
                    return {0, 0, 0};
 
                const RealType a = (_coords[right_idx].t - t) / h;
                const RealType b = (t - _coords[left_idx].t) / h;
 
                // Derivative coefficients
                // da/dt = -1/h
                // db/dt = 1/h
                // dc/dt = -h/6 * (3a^2 - 1)
                // dd/dt = h/6 * (3b^2 - 1)
 
                const RealType da = -1.0 / h;
                const RealType db = 1.0 / h;
                const RealType dc = -h / 6.0 * (3.0 * a * a - 1.0);
                const RealType dd_coeff = h / 6.0 * (3.0 * b * b - 1.0);
 
                return _coords[left_idx].pos * da + _coords[right_idx].pos * db + _dd[left_idx].pos * dc +
                    _dd[right_idx].pos * dd_coeff;
            }
        }
        return {0, 0, 0};
    }
 
    void Path::finalize()
    {
        if (!_final)
        {
            switch (_type)
            {
            case InterpType::INTERP_STATIC:
            case InterpType::INTERP_LINEAR:
                break;
            case InterpType::INTERP_CUBIC:
                finalizeCubic<Coord>(_coords, _dd);
                break;
            }
            _final = true;
        }
    }
 
    void Path::setInterp(const InterpType settype) noexcept
    {
        _type = settype;
        _final = false;
    }
}