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2021-07-08 9cbd9e554f9956b3b945b51602f1d4a3fa0353e1 
 ReviewHistory/include/akCore/akTrajectoryModel.h


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#pragma once






#include "akCoreLinker.h"


#include "akStruct.h"


#include "akDE.h"


#include <vector>


namespace akCore


{


   struct _Waypoint


   {


      double x;


      double y;


      double z;


      double speed;


   };




   class AKCORE_DLLSPEC CakTrajcetoryModel


   {


   public:


      CakTrajcetoryModel(void);


      ~CakTrajcetoryModel(void);




   public:


      virtual int calculate(float dTime); //더이상 ê³„ì‚°í•  ê²½ë¡œì ì´ ì—†ì„ ê²½ìš° 2를 ë°˜í™˜


      void setCurrentByWaypoint(int nWaypointIndex); //현재값을 ê²½ë¡œì  ê¸°ì¤€ìœ¼ë¡œ ì…‹íŒ…




	




   public:


      //현재 ê°’


      akVector3d m_position; //위치


      akVector3d m_rotate; //자세


      double m_velocity; //속도


      double m_acc;   //가속도


      akVector3d m_rotateAcc; //각속도




      //부여 ë°›ì€ ëª…ë ¹ ì„¤ì •


      akVector3d m_TaskPosition;


      double m_TaskVelocity;


      double m_TaskAcc;




      //객체 ì •ë³´ ê´€ë¦¬


      double mass; //무게


      double maxSpeed; //최대 ì†ë„


      double minSpeed; //최저 ì†ë„


      double maxAcceleration; //가속도


      double maxDeceleration; //감속도




      akVector3d m_rotateVelRate;




      //경로점 ê´€ë¦¬


   public:


      int m_nWaypointType; //0 ë§ˆì§€ë§‰ ê²½ë¡œì ì´ë©´ ëë‚¸ë‹¤, 1경로점 ìˆœíšŒ, 2경로점 ì™•ë³µ


      int m_nWaypointSet; //현재 ì„¤ì •ëœ ê²½ë¡œì 


      std::vector<_Waypoint> m_vecWaypoint;






   protected:


      void getAngle3d(double x1, double y1, double z1, double x2, double y2, double z2, double* heading, double* pitch);


      double getHeading(double x , double y);


   protected:


      CakDE m_movementmodel;


   };




}