static void Rotate(float deltaSeconds, LocalToWorld destinationSurfaceLocalToWorld, LocalToWorld surfaceLocalToWorld, NavSteering steering, NavAgent agent, Translation translation, ref Rotation rotation)
{
var lookAt = (translation.Value + steering.CurrentHeading)
.ToWorld(destinationSurfaceLocalToWorld)
.ToLocal(surfaceLocalToWorld);
lookAt.y = translation.Value.y;
var lookRotation = quaternion.LookRotationSafe(lookAt - translation.Value, math.up());
if (math.length(agent.SurfacePointNormal) > 0.01f)
{
lookRotation = math.mul(lookRotation, math.up().FromToRotation(agent.SurfacePointNormal));
}
rotation.Value = math.slerp(rotation.Value, lookRotation, deltaSeconds / agent.RotationSpeed);
}
static void Translate(float deltaSeconds, NavSteering steering, NavAgent agent, ref Translation translation) => translation.Value += steering.CurrentHeading * agent.TranslationSpeed * deltaSeconds;