source: orxonox.OLD/orxonox/branches/updater/src/curve.h @ 3283

/*! 
    \file curve.h
    \brief A basic 3D curve framework
    
    Contains classes to handle curves
*/ 

#ifndef _CURVE_H
#define _CURVE_H

#include "vector.h"


//! An abstract class to handle curves.
class Curve
{
 protected:
  int nodeCount;         //!< The count of nodes the Curve has.
  Vector curvePoint;     //!< The point on the Cureve at a local Time.
  float localTime;       //!< If the time of one point is asked more than once the programm will not calculate it again.

  //! Handles the curve-points (dynamic List)
  struct PathNode
  {
    int number;          //!< The N-th node of this curve.
    Vector position;     //!< Vector Pointung to this curve-point.
    PathNode* next;      //!< Pointer to the next Node.
  };

  PathNode* firstNode;   //!< First node of the curve.
  PathNode* currentNode; //!< The node we are working with (the Last node).

 public:
  void addNode (const Vector& newNode);

};

//! Bezier Curve
/**
   Class to handle bezier curves in 3-dimesnsional space
   
   needed for  the Tracking system in OrxOnoX.
*/
class BezierCurve : public Curve
{
 private:
  // all from Curve-Class
 public:
  BezierCurve (void);
  ~BezierCurve (void);
  Vector calcPos (float t);
  Vector calcDir (float t);
  Quaternion calcQuat (float t);
  
  
  Vector getPos () const;
};

int ncr(int n, int i);


#endif /* _CURVE_H */