struct PathFollowResult {
  struct SPredictedState {
    Vec3 pos;
    Vec3 vel;
  };
  float desiredPredictionTime;
  float predictionDeltaTime;
  TPredictedStates * predictedStates;
  bool reachedEnd;
  Vec3 velocityOut;
  Vec3 followTargetPos;
  Vec3 inflectionPoint;
};

IPathfinder.h

struct SPredictedState {
  Vec3 pos;
  Vec3 vel;
};

IPathfinder.h

Vec3 pos;

Vec3 vel;

SPredictedState();

SPredictedState(const Vec3 & p, const Vec3 & v);

float desiredPredictionTime;

maximum time to predict out to - actual prediction may not go this far

Vec3 followTargetPos;

If the turningPoint and inflectionPoint are equal, they represent the end of the path. The furthest point on the path we can move directly towards without colliding with anything

Vec3 inflectionPoint;

The next point on the path beyond the follow target that deviates substantially from a straight-line path

TPredictedStates * predictedStates;

if this is non-zero then on output the prediction will be placed into it

float predictionDeltaTime;

the first element in predictedStates will be now + predictionDeltaTime, etc

bool reachedEnd;

Vec3 velocityOut;

PathFollowResult();

typedef DynArray<SPredictedState> TPredictedStates;