Ejemplo n.º 1
0
        public static float2 ClosestApproach(PhysicalState subject, PhysicalState target, float timeIncrement = 1f, int maxSteps = 3600)
        {
            var closestDistance     = math.distance(subject.Position, target.Position);
            var closestDistanceTime = 0f;
            var totalTime           = 0f;
            var steps = 0;

            while (steps < maxSteps && closestDistance > float.Epsilon)
            {
                steps += 1;

                subject    = PredictFutureState(subject, timeIncrement);
                target     = PredictFutureState(target, timeIncrement);
                totalTime += timeIncrement;

                var dist = math.distance(subject.Position, target.Position);

                if (dist < closestDistance)
                {
                    closestDistance     = dist;
                    closestDistanceTime = totalTime;
                }
            }

            return(new float2(closestDistance, closestDistanceTime));
        }
Ejemplo n.º 2
0
 public static PhysicalState PredictFutureState(PhysicalState state, float deltaTime)
 {
     return(new PhysicalState
     {
         Position = state.Position + Displacement(state.Velocity, state.Acceleration, deltaTime),
         Velocity = state.Velocity + deltaTime * state.Acceleration,
         Acceleration = state.Acceleration
     });
 }
Ejemplo n.º 3
0
        public static InterceptData AccelerationToIntercept(PhysicalState subject, PhysicalState target, float accMag, float leadTimeIncrement = 1f, int maxSteps = 3600)
        {
            var leadTime = 0f;
            var steps    = 0;

            var intercept = new InterceptData
            {
                Acceleration    = float3.zero,
                ClosestDistance = math.distance(subject.Position, target.Position),
                TimeToIntercept = 0,
                SubjectPos      = subject.Position,
                TargetPos       = target.Position
            };

            while (steps < maxSteps && intercept.ClosestDistance > float.Epsilon)
            {
                steps += 1;

                var targetPoint = PredictFutureState(target, leadTime).Position;
                var acc         = math.normalize(targetPoint - subject.Position) * accMag;

                var ca = ClosestApproach(
                    new PhysicalState()
                {
                    Position     = subject.Position,
                    Velocity     = subject.Velocity,
                    Acceleration = acc
                },
                    target
                    );

                var cd  = ca.x;
                var tti = ca.y;

                if (cd < intercept.ClosestDistance)
                {
                    intercept = new InterceptData
                    {
                        Acceleration    = acc,
                        ClosestDistance = cd,
                        TimeToIntercept = tti,
                        SubjectPos      = PredictFutureState(new PhysicalState()
                        {
                            Position     = subject.Position,
                            Velocity     = subject.Velocity,
                            Acceleration = acc
                        }, tti).Position,
                        TargetPos = PredictFutureState(target, tti).Position
                    };
                }

                leadTime += leadTimeIncrement;
            }

            return(intercept);
        }