# trajectory.py

import numpy as np

def circle_trajectory(center=(80, 0), radius=40, num_points=60):
    """ 圆形轨迹 """
    angles = np.linspace(0, 2 * np.pi, num_points)
    x_list = center[0] + radius * np.cos(angles)
    y_list = center[1] + radius * np.sin(angles)
    return x_list, y_list

def line_trajectory(start=(40, 0), end=(120, 0), num_points=20):
    """ 直线轨迹 """
    t = np.linspace(0, 1, num_points)
    x_list = start[0] + t * (end[0] - start[0])
    y_list = start[1] + t * (end[1] - start[1])
    return x_list, y_list


def line_trajectory_fix(start=(40, 0), end=(120, 100), vx=0.1, vy=0.1, num_points=20):
    """
    生成带速度分量的匀速斜线轨迹
    参数：
        start: 起始点 (x, y)
        end: 终点 (x, y) —— 仅用于估算运行时间（可选）
        vx: x方向速度（单位/秒）
        vy: y方向速度（单位/秒）
        num_points: 生成的轨迹点数
    返回：
        x_list, y_list: 轨迹坐标数组
    """
    # 速度大小
    speed = np.sqrt(vx**2 + vy**2)
    if speed == 0:
        raise ValueError("速度不能为零")

    # 估算从 start 到 end 的距离（用于估算总时间）
    if end is not None:
        dx = end[0] - start[0]
        dy = end[1] - start[1]
        distance = np.sqrt(dx**2 + dy**2)
        total_time = distance / speed  # 理论到达时间
        print(total_time)
    else:
        total_time = 10.0  # 默认运行10秒

    # 时间序列：从 0 到 total_time，均匀分布 num_points 个点
    t = np.linspace(0, total_time, num_points)

    # 位置 = 起点 + 速度 × 时间
    x_list = start[0] + vx * t
    y_list = start[1] + vy * t

    return x_list, y_list

def ellipse_trajectory(center=(80, 0), rx=50, ry=25, num_points=60):
    """ 椭圆轨迹 """
    angles = np.linspace(0, 2 * np.pi, num_points)
    x_list = center[0] + rx * np.cos(angles)
    y_list = center[1] + ry * np.sin(angles)
    return x_list, y_list

def square_trajectory(side=60, num_points=60):
    """ 正方形轨迹 """
    x_list, y_list = [], []
    for i in range(num_points):
        t = i / num_points
        if t < 0.25:
            x = 80 + 60 * t * 4
            y = 0
        elif t < 0.5:
            x = 140
            y = 0 + 60 * (t - 0.25) * 4
        elif t < 0.75:
            x = 140 - 60 * (t - 0.5) * 4
            y = 60
        else:
            x = 80
            y = 60 - 60 * (t - 0.75) * 4
        x_list.append(x)
        y_list.append(y)
    return x_list, y_list

def triangle_trajectory(base_length=100, height=80, num_points=60):
    """ 三角形轨迹 """
    x_list, y_list = [], []
    points = [(80, 0), (130, 80), (30, 80), (80, 0)]
    for i in range(num_points):
        idx = int(i / num_points * 3)
        t = (i % (num_points // 3)) / (num_points // 3)
        x = points[idx][0] + t * (points[idx+1][0] - points[idx][0])
        y = points[idx][1] + t * (points[idx+1][1] - points[idx][1])
        x_list.append(x)
        y_list.append(y)
    return x_list, y_list

def custom_trajectory(custom_x, custom_y):
    """ 自定义轨迹，输入两个列表即可 """
    return custom_x, custom_y