public Controller Step(Ball ball, float dt, float currentTime)
{
float delta_t = ArrivalTime - currentTime;
Vector3 A = CalculateCourse(Car, Target, delta_t);
Controller c = new Controller();
Vector3 dir = Vector3.Normalize(A);
if (doubleJump != null && !doubleJump.Finished)
{
c = doubleJump.Step();
}
else
{
Quaternion t;
Vector3 predicted = Car.Position + Car.Velocity * delta_t + 0.5f * -650f * delta_t * delta_t * Vector3.UnitZ;
if ((predicted - Target).Length() > 50)
{
t = MathUtility.LookAt(dir, Car.Up);
}
else
{
Vector3 d = ball.Position - Car.Position;
Vector3 r = new Vector3(d.Y, -d.X, 0);
t = MathUtility.LookAt(Vector3.Normalize(Vector3.Cross(d, r)), -Vector3.Normalize(d));
}
Vector3 inputs = RotationController.GetInputs(Car, t, dt);
c.Roll = inputs.X;
c.Pitch = inputs.Y;
c.Yaw = inputs.Z;
if (MathUtility.Angle(Car.Rotation, MathUtility.LookAt(dir, Car.Up)) < 0.4f)
{
c.Boost = true;
}
if (Car.CanDodge)
{
Finished = true;
}
}
if (currentTime > ArrivalTime)
{
Finished = true;
}
return(c);
}
public Controller Step(Ball ball, float dt, float currentTime)
{
Vector3 A = CalculateCourse(Car, Target, ArrivalTime - currentTime);
Controller c = new Controller();
Vector3 dir = Vector3.Normalize(A);
if (doubleJump != null && !doubleJump.Finished)
{
c = doubleJump.Step();
}
else
{
Quaternion t;
Car test = new Car(Car);
for (int i = 0; i < (int)((ArrivalTime - currentTime) / 0.016667f); i++)
{
test.Simulate(new Controller(), 0.016667f);
}
if ((Target - test.Position).Length() > 120)
{
t = MathUtility.LookAt(dir, Car.Up);
}
else
{
t = MathUtility.LookAt(Vector3.Normalize(ball.Position - Car.Position), Car.Up);
}
Vector3 inputs = RotationController.GetInputs(Car, t, dt);
c.Roll = inputs.X;
c.Pitch = inputs.Y;
c.Yaw = inputs.Z;
if (MathUtility.Angle(Car.Rotation, MathUtility.LookAt(dir, Car.Up)) < 0.4f)
{
c.Boost = true;
}
}
if (currentTime > ArrivalTime || A.Length() > 1050)
{
Finished = true;
}
return(c);
}
public Controller Step(float dt)
{
Finished = car.HasWheelContact;
Vector3 inputs = RotationController.GetInputs(car, targetRotation, dt);
Controller controller = new Controller();
controller.Roll = inputs.X;
controller.Pitch = inputs.Y;
controller.Yaw = inputs.Z;
return(controller);
}
