void ProgObstacle()
{
while (true)
{
for (int i = 0; i < Omgr.Count; i++)
{
double distance;
Obstacle obstacle = Omgr.At(i);
Vect2D vect = GetVectorToTarget(obstacle.pos, 0);
rb.SetV(0);
TurnAbsAngle(vect.GetPhiGrad(), 5);
do
{
double dPhi = GetRelAngle(vect.GetPhiGrad()) / 10;
rb.Set_dPhi(dPhi);
rb.SetV(5);
WaitForUpdate();
distance = vect.VectLength();
vect = GetVectorToTarget(obstacle.pos, 0);
}while (vect.VectLength() < distance);
}
WaitForUpdate();
}
}
void SetFollow(Vect2D target, double keepDistance, double speedFactor)
{
Vect2D vect = GetVectorToTarget(target, keepDistance);
double dPhi = GetRelAngle(vect.GetPhiGrad()) * speedFactor * 2;
double v = vect.VectLength() * speedFactor;
if (v < speedFactor * 1.1)
{
dPhi = v = 0;
}
rb.Set_dPhi(dPhi);
rb.SetV(v);
}