Spline.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
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tutorials, scene files and technical white papers, are copyrighted, proprietary
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Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
#pragma once
 
 
#include <agx/agx.h>
#include <agx/agxPhysics_export.h>
#include <agx/Referenced.h>
#include <agxStream/Serializable.h>
#include <agx/Vec3.h>
#include <agx/AffineMatrix4x4.h>
 
namespace agxUtil {
 
  class AGXPHYSICS_EXPORT Spline : public agx::Referenced, public virtual agxStream::Serializable
  {
    public:
      class Tangent : public agx::Vec3
      {
        public:
          Tangent()
            : agx::Vec3() {}
          Tangent( const agx::Vec3& v )
            : agx::Vec3( v ) {}
      };
 
      class Point : public agx::Vec3
      {
        public:
          AGXPHYSICS_EXPORT static const double DEFAULT_TENSION;
          AGXPHYSICS_EXPORT static const agx::Real DEFAULT_STRETCH;
          AGXPHYSICS_EXPORT static const agx::Real DEFAULT_CURVATURE;
 
          Point(const agx::Vec3& p=agx::Vec3(), agx::Real t= DEFAULT_TENSION, agx::Real stretch=DEFAULT_STRETCH, agx::Real curvature=DEFAULT_CURVATURE)
            : agx::Vec3(p), m_tension(t), m_stretch(stretch), m_curvature(curvature) {}
 
          inline agx::Real getTension() const { return m_tension; }
 
          inline void setTension(agx::Real tension) { m_tension = tension; }
 
          inline agx::Real getStretch() const { return m_stretch; }
 
          inline agx::Real getCurvature() const { return m_curvature; }
 
        private:
          agx::Real m_tension;
          agx::Real m_stretch;
          agx::Real m_curvature;
      };
 
      typedef agx::Vector< Tangent > TangentVector;
      typedef agx::Vector< Point > PointVector;
 
    public:
 
      Spline();
 
      void add(const agx::Vec3& point, agx::Real tension = Point::DEFAULT_TENSION, agx::Real stretch = Point::DEFAULT_STRETCH, agx::Real curvature = Point::DEFAULT_CURVATURE);
 
      virtual Point evaluate( size_t index, agx::Real t ) const = 0;
 
      inline size_t getNumPoints() const { return m_points.size(); }
 
      inline PointVector& getPoints() { return m_points; }
 
#ifndef SWIG
      inline const PointVector& getPoints() const { return m_points; }
#endif
 
      virtual Tangent getTangent(size_t /*index*/, agx::Real /*t*/) const { return Tangent(); }
 
      virtual inline agx::Real getTension(size_t index, agx::Real time) const;
 
      virtual void updateTangents() = 0;
 
      virtual void clear();
 
      AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE(agxUtil::Spline);
 
      void store(agxStream::OutputArchive& out) const override;
      void restore(agxStream::InputArchive& in) override;
 
    protected:
      virtual ~Spline() {}
 
    protected:
      PointVector m_points;
      TangentVector m_tangents;
  };
 
  typedef agx::ref_ptr< Spline > SplineRef;
 
 
  inline agx::Real Spline::getTension(size_t index, agx::Real time) const
  {
    if (index + 1 == m_points.size())
      return m_points.back().getTension();
 
    time = agx::clamp(time, agx::Real(0), agx::Real(1));
    if (agx::equalsZero(time))
      return m_points[index].getTension();
    else if (agx::equivalent(time, agx::Real(1), agx::RealEpsilon))
      return m_points[index + 1].getTension();
    else
      return (1 - time) * m_points[index].getTension() + time * m_points[index + 1].getTension();
  }
 
 
  class AGXPHYSICS_EXPORT CubicSpline : public Spline
  {
    public:
 
      // Default constructor
      CubicSpline();
 
      virtual Point evaluate( size_t index, agx::Real t ) const override;
 
      void updateTangents() override;
 
      Tangent getTangent(size_t index, agx::Real t) const override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxUtil::CubicSpline);
 
 
    protected:
      virtual ~CubicSpline() {}
 
    private:
      agx::AffineMatrix4x4 m_matrix;
  };
 
  typedef agx::ref_ptr< CubicSpline > CubicSplineRef;
 
  class AGXPHYSICS_EXPORT CardinalSpline : public Spline
  {
    public:
      CardinalSpline();
 
      virtual Point evaluate( size_t index, agx::Real t ) const override;
 
      void updateTangents() override;
 
      Tangent getTangent(size_t index, agx::Real t) const override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxUtil::CardinalSpline);
 
 
    protected:
      virtual ~CardinalSpline() {}
  };
 
  typedef agx::ref_ptr< CardinalSpline > CardinalSplineRef;
 
  class AGXPHYSICS_EXPORT NonUniformCardinalSpline : public Spline
  {
    public:
      NonUniformCardinalSpline();
 
      virtual Point evaluate(size_t index, agx::Real t) const override;
 
      void updateTangents() override;
 
      Tangent getTangent(size_t index, agx::Real t) const override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxUtil::NonUniformCardinalSpline);
 
 
    protected:
      virtual ~NonUniformCardinalSpline() {}
  };
 
  typedef agx::ref_ptr< NonUniformCardinalSpline > NonUniformCardinalSplineRef;
 
  class AGXPHYSICS_EXPORT ParameterizedCatmullRomSpline : public Spline
  {
    public:
      ParameterizedCatmullRomSpline(agx::Real alpha);
 
      virtual Point evaluate(size_t index, agx::Real t) const override;
 
      void updateTangents() override;
 
      Tangent getTangent(size_t index, agx::Real t) const override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxUtil::ParameterizedCatmullRomSpline);
 
 
    protected:
      virtual ~ParameterizedCatmullRomSpline() {}
 
      ParameterizedCatmullRomSpline();
 
    private:
      agx::Real m_alpha;
  };
 
  typedef agx::ref_ptr< ParameterizedCatmullRomSpline > ParameterizedCatmullRomSplineRef;
 
  class AGXPHYSICS_EXPORT BSpline : public Spline
  {
    public:
      BSpline();
 
      virtual Point evaluate(size_t index, agx::Real t) const override;
 
      void updateTangents() override;
 
      Tangent getTangent(size_t index, agx::Real t) const override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxUtil::BSpline);
 
 
    protected:
      virtual ~BSpline() {}
  };
 
  typedef agx::ref_ptr< BSpline > BSplineRef;
 
  class AGXPHYSICS_EXPORT CPCatmullRomBSpline : public Spline
  {
    public:
      CPCatmullRomBSpline();
 
      virtual Point evaluate(size_t index, agx::Real t) const override;
 
      virtual void updateTangents() override;
 
      Tangent getTangent(size_t index, agx::Real t) const override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxUtil::CPCatmullRomBSpline);
 
 
    protected:
      virtual ~CPCatmullRomBSpline() {}
      ParameterizedCatmullRomSplineRef   m_catmull;
      BSplineRef                         m_bspline;
  };
 
  typedef agx::ref_ptr< CPCatmullRomBSpline > CPCatmullRomBSplineRef;
 
  class AGXPHYSICS_EXPORT HermiteSpline : public Spline
  {
    public:
      HermiteSpline();
 
      virtual Point evaluate(size_t index, agx::Real t) const override;
 
      void updateTangents() override;
 
      Tangent getTangent(size_t index, agx::Real t) const override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxUtil::HermiteSpline);
 
 
    protected:
      virtual ~HermiteSpline() {}
      ParameterizedCatmullRomSplineRef   m_catmull;
      BSplineRef                         m_bspline;
  };
 
  typedef agx::ref_ptr< HermiteSpline > HermiteSplineRef;
}