public static float FindRealSolutionSmallestT(InterceptDriveAccel drive, Drive targetDrive)
{
if (drive == null || targetDrive == null)
{
return(float.PositiveInfinity);
}
Vector3 rv = targetDrive.rb.velocity - drive.rb.velocity;
Vector3 rp = targetDrive.rb.position - drive.rb.position;
double[] coefficients =
{
4d * rp.sqrMagnitude,
8d * Vector3.Dot(rv, rp),
4d * (Vector3.Dot(targetDrive.accelVec,rp) + rv.sqrMagnitude),
4d * Vector3.Dot(targetDrive.accelVec, rv),
targetDrive.accelVec.sqrMagnitude - drive.accel * drive.accel
};
return(InterceptSolver.FindRealSolutionSmallestT(coefficients));
}
public static float FindRealSolutionSmallestT(Vector3 currentVelocity, Vector3 currentPos, float speed, Drive targetDrive)
{
if (targetDrive == null)
{
return(float.PositiveInfinity);
}
Vector3 rv = targetDrive.rb.velocity - currentVelocity;
Vector3 rp = targetDrive.rb.position - currentPos;
double[] coefficients =
{
rp.sqrMagnitude,
2d * Vector3.Dot(rv, rp),
Vector3.Dot(targetDrive.accelVec,rp) + rv.sqrMagnitude - speed * speed,
Vector3.Dot(targetDrive.accelVec,rv),
.25d * targetDrive.accelVec.sqrMagnitude
};
return(InterceptSolver.FindRealSolutionSmallestT(coefficients));
}