/// <summary>
/// Calculates the required acceleration to arrive at a location in a given amount of time.
/// </summary>
/// <param name="car">The car to use in the calculation.</param>
/// <param name="target">The target location for the aerial.</param>
/// <param name="time">The time allowed to complete the aerial.</param>
/// <returns></returns>
public static Vector3 CalculateCourse(Car car, Vector3 target, float time)
{
Vector3 z = Vector3.UnitZ;
Vector3 P = target;
Vector3 x0 = car.Position;
Vector3 v0 = car.Velocity;
float delta_t = time;
if (car.HasWheelContact)
{
v0 += car.Up * jump_dv;
x0 += car.Up * jump_dx;
}
float g = -650.0f;
float a = 9.0f;
Vector3 A = P - x0 - v0 * delta_t - 0.5f * g * delta_t * delta_t * z;
Vector3 dir = Vector3.Normalize(A);
// estimate the time required to turn
float phi = MathUtility.Angle(car.Rotation, MathUtility.LookAt(dir, car.Up));
float T = (float)(0.7 * (2.0 * Math.Sqrt(phi / a)));
// see if the boost acceleration needed to reach the target is achievable
return(dir * 2.0f * A.Length() / ((delta_t - T) * (delta_t - T)));
}
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);
}
