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#include "link.h"
#include <compare>
#include <location.hpp>
#include <maths.h>
#include <tuple>
Link::Link(End a, End b, float l) : ends {{std::move(a), std::move(b)}}, length {l} { }
LinkCurve::LinkCurve(glm::vec3 c, float r, Arc a) : centreBase {c}, radius {r}, arc {std::move(a)} { }
bool
operator<(const glm::vec3 & a, const glm::vec3 & b)
{
// NOLINTNEXTLINE(hicpp-use-nullptr,modernize-use-nullptr)
return std::tie(a.x, a.z, a.y) < std::tie(b.x, b.z, b.y);
}
bool
operator<(const Node & a, const Node & b)
{
return a.pos < b.pos;
}
Location
LinkStraight::positionAt(float dist, unsigned char start) const
{
const auto es {std::make_pair(ends[start].node.get(), ends[1 - start].node.get())};
const auto diff {es.second->pos - es.first->pos};
const auto dir {glm::normalize(diff)};
return Location {es.first->pos + vehiclePositionOffset() + dir * dist, {-vector_pitch(dir), vector_yaw(dir), 0}};
}
Location
LinkCurve::positionAt(float dist, unsigned char start) const
{
static constexpr std::array<float, 2> dirOffset {half_pi, -half_pi};
const auto frac {dist / length};
const auto es {std::make_pair(ends[start].node.get(), ends[1 - start].node.get())};
const auto as {std::make_pair(arc[start], arc[1 - start])};
const auto ang {as.first + ((as.second - as.first) * frac)};
const auto relPos {!sincosf(ang) * radius};
const auto relClimb {vehiclePositionOffset()
+ glm::vec3 {0, -centreBase.y + es.first->pos.y + ((es.second->pos.y - es.first->pos.y) * frac), 0}};
const auto pitch {vector_pitch({0, (es.first->pos.y - es.second->pos.y) / length, 0})};
return Location {relPos + relClimb + centreBase, {pitch, normalize(ang + dirOffset[start]), 0}};
}
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