public void Control(float thrust, float torque, bool firing)
{
Firing = firing;
thrust = Fmath.Clamp(thrust, 0.0f, 1.0f);
if (torque == 0)
{
// This is negative feedback, so im unsure why torque and angular velocity have different signs.
torque = AngularVelocity * 10f;
}
torque = Fmath.Clamp(torque, -1.0f, 1.0f);
/*
* float epsilon = 0.001f;
* if (torque < epsilon && torque > -epsilon)
* {
* float dt = (CollisionBody.AngularVelocity > epsilon) ? 1f : ((CollisionBody.AngularVelocity < -epsilon) ? -1f : 0f);
* torque = dt;
* }
*/
CollisionBody.AddForce(Fmath.CosSin(Angle, Thrust * thrust));
CollisionBody.AddTorque(Torque * torque);
}
