/// <summary>
/// 初始化匀速贝塞尔路径运动
/// </summary>
/// <param name="points">贝塞尔点(0:P1, 1:P1右控制点, 2:P2_左控制点, 3: P2)</param>
/// <param name="fullTime">完成曲线运动的期望总时间(ms)</param>
/// <param name="interval">精度</param>
/// <param name="UniformBezierRouteCallBack">匀速化贝塞尔点回调函数</param>
public BezierRoute(Point[] points, int fullTime, int interval, UniformBezierRouteCallBack uniformBezierRouteCallBack)
{
Start = false;
FullTime = fullTime;
Interval = interval;
CallBack = uniformBezierRouteCallBack;
timer = new Timer(interval);
timer.Elapsed += Timer_Elapsed;
this.points = points;
b3 = new Bezier_3();
length = b3.beze_length(points, 1);
for (int i = 0; i < points.Length && i < 4; i++)
{
switch (i)
{
case 0: P1 = points[0]; break;
case 1: P1_Control = points[1]; break;
case 2: P2_Control = points[2]; break;
case 3: P2 = points[3]; break;
default:
break;
}
}
}
static void Main(string[] args)
{
Bezier_3 b3 = new Bezier_3();
// 输出 t=0.5 对应的匀速 rt
Point[] p = new Point[4];
p[0] = new Point(100, 611);
p[1] = new Point(300, 411);
p[2] = new Point(400, 311);
p[3] = new Point(500, 411);
Console.WriteLine(b3.t2rt(p, 0.05));
}
