unsafe void learn_the_surface(ref surface current_surface, ref state_model current_model, int flag)
{
double left_height = 0;
double right_height = 0;
if (flag == 1)
{
//reycast right
Raycasting(flag, ref left_height, ref right_height);
current_surface.start_x = current_model.Coord.x;
current_surface.start_y = current_model.Coord.y - left_height;
}
else
{
//reycast left
Raycasting(flag, ref left_height, ref right_height);
current_surface.start_x = current_model.Coord.x - current_surface.limitation_x;
current_surface.start_y = current_model.Coord.y - left_height;
}
current_surface.angle = Math.Atan((left_height - right_height) / current_surface.limitation_x);
}
public static unsafe extern int solve_step(ref state_model current_model, ref koef_of_model koef_model, ref surface current_surface, ref double step_time, double force);
