protected override JobHandle OnUpdate(JobHandle inputDeps)
{
var handle = Entities.ForEach((ref MovementOrder movementOrder,
in InterceptTarget interceptTarget, in Position position, in Movement movement,
in MovementCapabilities movementCapabilities) =>
{
var intercept = PhysicsUtils.AccelerationToIntercept(
new PhysicalState {
Position = position.Value,
Velocity = movement.Velocity,
Acceleration = movement.Acceleration,
},
new PhysicalState {
Position = interceptTarget.Position,
Velocity = interceptTarget.Velocity,
Acceleration = interceptTarget.Acceleration,
},
PhysicsUtils.GeesToMs2(movementCapabilities.MaxAccelerationMagnitude)
);
movementOrder.Heading = math.normalize(intercept.Acceleration);
movementOrder.AccelerationMagnitude = movementCapabilities.MaxAccelerationMagnitude;
}).Schedule(inputDeps);
void Update()
{
if (Input.GetKeyDown(KeyCode.KeypadPlus))
{
var maxSteps = closestApproaches.Count + 1;
var ca = PhysicsUtils.ClosestApproach(
new PhysicalState
{
Position = fromVector3(Subject.position),
Velocity = subjectVelocity,
Acceleration = subjectAcceleration
},
new PhysicalState
{
Position = fromVector3(Target.position),
Velocity = targetVelocity,
Acceleration = targetAcceleration
},
1.0f,
maxSteps
);
var dist = ca.x;
var tti = ca.y;
var fSubject = PhysicsUtils.PredictFutureState(new PhysicalState()
{
Position = Subject.position,
Velocity = subjectVelocity,
Acceleration = subjectAcceleration
}, tti).Position;
var fTarget = PhysicsUtils.PredictFutureState(new PhysicalState()
{
Position = Target.position,
Velocity = targetVelocity,
Acceleration = targetAcceleration
}, tti).Position;
var diffDist = math.distance(fSubject, fTarget);
closestApproaches.Add(new ClosestApproachResult()
{
distance = dist,
tti = tti,
subjectPosition = fSubject,
targetPosition = fTarget,
distCheck = diffDist
});
Text.text += "\nCD: " + dist + " / DD: " + diffDist;
}
if (Input.GetKeyDown(KeyCode.Space))
{
var lastTti = -1f;
for (var maxSteps = 1; maxSteps < 10; maxSteps++)
{
var intercept = PhysicsUtils.AccelerationToIntercept(
new PhysicalState
{
Position = fromVector3(Subject.position),
Velocity = subjectVelocity,
Acceleration = subjectAcceleration
},
new PhysicalState
{
Position = fromVector3(Target.position),
Velocity = targetVelocity,
Acceleration = targetAcceleration
},
maxAccMag,
1.0f,
maxSteps
);
// if (intercept.TimeToIntercept - lastTti < float.Epsilon) break;
lastTti = intercept.TimeToIntercept;
intercepts.Add(intercept);
}
}
if (Input.GetKeyDown(KeyCode.Return))
{
intercepts.Clear();
closestApproaches.Clear();
Text.text = "";
}
}
