/** Generates a steering that dinamically aligns the orientation to the target orientation */
public static Steering Align(Kinematic source, Steering sourceSteering, float targetOrientation, AlignOptions opts)
{
Steering steering = new Steering();
// Define objectives
float rotation = Kinematic.OrientDiff(source.orientation, targetOrientation);
float rotationSize = System.Math.Abs(rotation);
float targetRotation;
// Define target rotation
if (rotationSize < opts.targetRadius)
{
return(steering);
}
if (rotationSize > opts.slowRadius)
{
targetRotation = opts.maxRotation;
}
else
{
targetRotation = rotationSize * opts.maxRotation / opts.slowRadius;
}
// Define steering based on target rotation
steering.angular = Math.Min((targetRotation * Mathf.Sign(rotation) - sourceSteering.rotation) / opts.timeToTarget, opts.maxAngular);
steering.rotation = sourceSteering.rotation + steering.angular * Time.deltaTime;
return(steering);
}
