public static double WheelTurnForEndZeroWheelTurn(this PCar car, double finalAngle, double sign)
{
PCar physicCar = new PCar(car);
int ticks = (int)Math.Abs(Math.Round(physicCar.WheelTurn / game.CarWheelTurnChangePerTick));
physicCar.setWheelTurn(0);
physicCar.Iteration(ticks);
double angleDeviation = finalAngle.AngleDeviation(physicCar.Angle);
if (sign < 0)
{
Vector v = Vector.sincos(finalAngle + Math.PI);
double inverse90Angle = Math.Abs(v.X) > Math.Abs(v.Y) ?
((Math.Sign(v.X) - 1) * Math.PI / 2) :
(Math.Sign(v.Y) * Math.PI / 2);
if (Math.Abs(Math.Abs(v.X) - Math.Abs(v.Y)) < 1.0e-3)//45
{
inverse90Angle = v.Angle;
}
double angleSub = inverse90Angle.AngleDeviation(physicCar.Angle);
angleDeviation = finalAngle.AngleDeviation(physicCar.Angle + 2 * angleSub);
}
if (Math.Abs(angleDeviation) < game.CarRotationFrictionFactor)
{
return(0);
}
return(car.WheelTurn + game.CarWheelTurnChangePerTick * Math.Sign(angleDeviation));
}
public static PCar GetZeroWheelTurnCar(this PCar car)
{
PCar physicCar = new PCar(car);
int ticks = (int)Math.Abs(Math.Round(physicCar.WheelTurn / game.CarWheelTurnChangePerTick));
physicCar.setWheelTurn(0);
physicCar.Iteration(ticks);
return(physicCar);
}
public static double WheelTurnForEndZeroWheelTurn(this PCar car, Vector finalPos, double sign)
{
PCar physicCar = new PCar(car);
int ticks = (int)Math.Abs(Math.Round(physicCar.WheelTurn / game.CarWheelTurnChangePerTick));
physicCar.setWheelTurn(0);
physicCar.Iteration(ticks);
double finalAngle = (finalPos - car.Pos).Angle;
return(car.WheelTurnForEndZeroWheelTurn(finalAngle, sign));
}
public void Iteration(PCar car, int iterationCount)
{
for (int i = 0; i < iterationCount; i++)
{
if (intersecOildStickEvent.Check(car))
{
car.traveledOnOil(intersecOildStickEvent.InfoForCheck as OilSlick);
}
double speedSign = Math.Sign(car.Dir.Dot(car.Speed));
double wheelTurn = car.WheelTurnForEndZeroWheelTurn(angle, speedSign);
car.setWheelTurn(wheelTurn);
car.Iteration(1);
}
}
public void Iteration(PCar car, int iterationCount)
{
for (int i = 0; i < iterationCount; i++)
{
if (intersecOildStickEvent.Check(car))
{
car.traveledOnOil(intersecOildStickEvent.InfoForCheck as OilSlick);
}
double speedSign = Math.Sign(car.Dir.Dot(car.Speed));
if (double.IsNaN(finalAngle))
{
car.WheelTurnForEndZeroWheelTurn(point, speedSign);
}
else
{
car.setWheelTurn(car.WheelTurnForEndZeroWheelTurnToPoint(point, finalAngle, speedSign));
}
car.Iteration(1);
}
}
public void Iteration(PCar car, int iterationCount)
{
car.Iteration(iterationCount);
}
