/* update model using controller for navigating to "to". return true if inProgress*/
public bool updateModel(Vector3 to)
{
bool inProgress = controller.computeTargetedControl(vehicle.transform.forward, vehicle.transform.position, to);
TargetedControllerResult res = controller.getOutput();
vehicle.rigidbody.velocity = Vector3.ClampMagnitude(res.direction, res.velocity) * MyUtils.movementK * Time.deltaTime;
return(inProgress);
}
/* update model with Targeted Input */
public bool updateModel(Vector3 to)
{
bool inProgress = controller.computeTargetedControl(vehicle.transform.forward, vehicle.transform.position, to);
TargetedControllerResult res = controller.getOutput();
vehicle.transform.rotation = Quaternion.LookRotation(res.direction);
vehicle.rigidbody.velocity = res.velocity * vehicle.transform.forward * MyUtils.movementK * Time.deltaTime;
return(inProgress);
}
