using System.Collections.Generic;
using UnityEngine;

public class MotionPlanner
{
    public Frame[] GeneratePath(Frame start, Frame end, int steps)
    {
        var list = new List<Frame>();
        if (steps <= 0)
        {
            list.Add(new Frame(end.Position, end.Rotation));
            return list.ToArray();
        }

        for (int i = 0; i <= steps; i++)
        {
            float t = i / (float)steps;
            Vector3 pos = Vector3.Lerp(start.Position, end.Position, t);
            Quaternion rot = Quaternion.Slerp(start.Rotation, end.Rotation, t);
            list.Add(new Frame(pos, rot));
        }
        return list.ToArray();
    }


    // Utility: create N repeated frames (hold)
    public Frame[] RepeatFrame(Frame f, int count)
    {
        if (count <= 0) return new Frame[0];
        Frame[] arr = new Frame[count];
        for (int i = 0; i < count; i++) arr[i] = new Frame(f.Position, f.Rotation);
        return arr;
    }
}