💿🐜 Antkeeper source code
https://antkeeper.com
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
45 lines
1.5 KiB
45 lines
1.5 KiB
/*
|
|
* Copyright (C) 2023 Christopher J. Howard
|
|
*
|
|
* This file is part of Antkeeper source code.
|
|
*
|
|
* Antkeeper source code is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* Antkeeper source code is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with Antkeeper source code. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#ifndef ANTKEEPER_ANIMATION_STEP_HPP
|
|
#define ANTKEEPER_ANIMATION_STEP_HPP
|
|
|
|
/**
|
|
* Describes the timing of a single step in a gait.
|
|
*/
|
|
struct step
|
|
{
|
|
public:
|
|
/// Fraction of the gait cycle, on `[0, 1]`, in which the limb is in the stance phase.
|
|
float duty_factor{};
|
|
|
|
/// Fraction of the gait cycle, on `[0, 1]`, at which the limb enters the swing phase.
|
|
float delay{};
|
|
|
|
/**
|
|
* Returns the phase of the step at the given gait phase.
|
|
*
|
|
* @param t Gait phase, on `[0, 1]`.
|
|
*
|
|
* @return Step phase, on `[-1, 1]`. Values on `[-1, 0)` indicate a stance phase, while values on `[0, 1]` indicate a swing phase.
|
|
*/
|
|
[[nodiscard]] float phase(float t) const noexcept;
|
|
};
|
|
|
|
#endif // ANTKEEPER_ANIMATION_STEP_HPP
|