# waypoints
var waypoint_list[];
var heading_list=[]; 
var speed_list=[];


# User Settings
# var MaxSpeed = 9; # meters / second
var Accel = 1; # meters / second^2


append(waypoint_list,0.0); 
append(heading_list,0.0); 
append(speed_list,5);

append(waypoint_list,100.0); 
append(heading_list,0.0); 
append(speed_list,9);

append(waypoint_list,200.0); 
append(heading_list,30.0); 
append(speed_list,9);

append(waypoint_list,300.0); 
append(heading_list,30.0); 
append(speed_list,5);

append(waypoint_list,400.0); 
append(heading_list,30.0); 
append(speed_list,0);

append(waypoint_list,450.0); 
append(heading_list,30.0); 
append(speed_list,0);


var init = func {
	# control variables
	var time = 0;
	var dt = 0;
	var speed = 0;
	var distance = 0;
	var heading = 0;
	var cosh = 1;
	var sinh = 0;
	var waypoint = 0;
}

var run = func {
##	dt = this time - last time?
	var dX = 0;
	var dY = 0;
	var dd = speed * dt;
	var new_distance = distance + dd;
	if (new_distance > waypoint_list[waypoint])
	{		
		# move to waypoint	
		var ddw = new_distance - waypoint_list[waypoint];
		dX = ddw * cosh;
		dY = ddw * sineh;
		dd -= ddw;
		#toggle waypoint
		waypoint++;
		cosh = cos(heading_list[waypoint]);
		sinh = sin(heading_list[waypoint]);
	}
	
	# move
	dX += dd * cosh;
	dY += dd * sinh;
	
	# accelerate
	if ( speed < speed_list[waypoint] )
	{
		speed += Accel;
	}
	if ( speed > speed_list[waypoint] )
	{
		speed -= Accel;
	}
	
# update the properties

}