#pragma once


#include "akLinker.h"
#include "akSTL.h"
#include "akDE.h"
#include <vector>
namespace akSTL
{
	struct _Waypoint
	{
		double x;
		double y;
		double z;
		double speed;
	};

	class akSTL_DLLSPEC CakTrajcetoryModel
	{
	public:
		CakTrajcetoryModel(void);
		~CakTrajcetoryModel(void);

	public:
		virtual int calculate(float dTime); //´õÀÌ»ó °è»êÇÒ °æ·ÎÁ¡ÀÌ ¾øÀ» °æ¿ì 2¸¦ ¹Ýȯ
		void setCurrentByWaypoint(int nWaypointIndex); //ÇöÀç°ªÀ» °æ·ÎÁ¡ ±âÁØÀ¸·Î ¼ÂÆÃ

	

	public:
		//ÇöÀç °ª
		khVector3d m_position; //À§Ä¡
		khVector3d m_rotate; //ÀÚ¼¼
		double m_velocity; //¼Óµµ
		double m_acc;	//°¡¼Óµµ
		khVector3d m_rotateAcc; //°¢¼Óµµ

		//ºÎ¿© ¹ÞÀº ¸í·É ¼³Á¤
		khVector3d m_TaskPosition;
		double m_TaskVelocity;
		double m_TaskAcc;

		//°´Ã¼ Á¤º¸ °ü¸®
		double mass; //¹«°Ô
		double maxSpeed; //ÃÖ´ë ¼Óµµ
		double minSpeed; //ÃÖÀú ¼Óµµ
		double maxAcceleration; //°¡¼Óµµ
		double maxDeceleration; //°¨¼Óµµ

		khVector3d m_rotateVelRate;

		//°æ·ÎÁ¡ °ü¸®
	public:
		int m_nWaypointType; //0 ¸¶Áö¸· °æ·ÎÁ¡ÀÌ¸é ³¡³½´Ù, 1°æ·ÎÁ¡ ¼øȸ, 2°æ·ÎÁ¡ ¿Õº¹
		int m_nWaypointSet; //ÇöÀç ¼³Á¤µÈ °æ·ÎÁ¡
		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;
	};

}