Struct Spline

pub struct Spline<T>
where
    T: MyFloat,
{
    pub params: Vec<CurveParams<T>>,
    pub additional: Vec<Curve>,
}

A hermite spline, each curve parameterized by CurveParms.

Fields

params: Vec<CurveParams<T>>

additional: Vec<Curve>

Implementations

impl<T> Spline<T>

where T: MyFloat,

pub fn new(points: &[Point<T>]) -> Self

Creates a spline from the given points
For each pair of points, we need to find a Hermite polynomial
that smoothly interpolates between them.

Creates a segment between every consecutive pair of points, and uses the solve function to compute Hermite coefficients for each segment.

pub fn max_u(&self) -> Fpt

pub fn max_additional_u(&self) -> f64

pub fn iter(&self) -> impl Iterator<Item = &CurveParams<T>>

Iterate through the hermite curves of the spline

pub fn curve_at(&self, u: &T) -> Option<MyVector3<T>>

Find the position of the spline at u.

A value of u = 0 gives us the starting point of the spline, while u = 1 corresponds to the end of the first curve. This method evaluates the position by taking the floor(u)-th curve in the spline, and taking its position at u - floor(u).

fn u_to_i_rem(&self, u: &T) -> (usize, T)

pub fn curve_direction_at(&self, u: &T) -> Option<MyVector3<T>>

pub fn curve_1st_derivative_at(&self, u: &T) -> Option<MyVector3<T>>

Find the 1st derivative (“velocity”) of the spline at u

pub fn curve_2nd_derivative_at(&self, u: &T) -> Option<MyVector3<T>>

Find the 2nd derivative (“acceleration”) of the spline at u

pub fn curve_3rd_derivative_at(&self, u: &T) -> Option<MyVector3<T>>

Find the 3rd derivative (“jerk”) of the spline at u

pub fn curve_4th_derivative_at(&self, u: &T) -> Option<MyVector3<T>>

Find the 4th derivative (“snap”) of the spline at u

pub fn curve_normal_at(&self, u: &T) -> Option<MyVector3<T>>

Unit normal of the spline at u

pub fn curve_kappa_at(&self, u: &T) -> Option<T>

Trait Implementations

impl<T> Clone for Spline<T>

where T: MyFloat + Clone,

fn clone(&self) -> Spline<T>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<T> Default for Spline<T>

where T: MyFloat,

fn default() -> Self

Creates an empty spline