public Vector3 xxxSteerForSeek(Vector3 target)
{
// const Vector3 offset = target - position;
Vector3 offset = target - this.Position;
Vector3 desiredVelocity = Vector3Helpers.TruncateLength(offset, this.MaxSpeed); //xxxnew
return(desiredVelocity - this.Velocity);
}
// apply a given steering force to our momentum,
// adjusting our orientation to maintain velocity-alignment.
public void ApplySteeringForce(Vector3 force, float elapsedTime)
{
Vector3 adjustedForce = AdjustRawSteeringForce(force, elapsedTime);
// enforce limit on magnitude of steering force
Vector3 clippedForce = Vector3Helpers.TruncateLength(adjustedForce, MaxForce);
// compute acceleration and velocity
Vector3 newAcceleration = (clippedForce / Mass);
Vector3 newVelocity = Velocity;
// damp out abrupt changes and oscillations in steering acceleration
// (rate is proportional to time step, then clipped into useful range)
if (elapsedTime > 0)
{
float smoothRate = Utilities.Clip(9 * elapsedTime, 0.15f, 0.4f);
Utilities.BlendIntoAccumulator(smoothRate, newAcceleration, ref acceleration);
}
// Euler integrate (per frame) acceleration into velocity
newVelocity += acceleration * elapsedTime;
// enforce speed limit
newVelocity = Vector3Helpers.TruncateLength(newVelocity, MaxSpeed);
// update Speed
Speed = (newVelocity.Length);
// Euler integrate (per frame) velocity into position
Position = (Position + (newVelocity * elapsedTime));
// regenerate local space (by default: align vehicle's forward axis with
// new velocity, but this behavior may be overridden by derived classes.)
RegenerateLocalSpace(newVelocity, elapsedTime);
// maintain path curvature information
MeasurePathCurvature(elapsedTime);
// running average of recent positions
Utilities.BlendIntoAccumulator(elapsedTime * 0.06f, // QQQ
Position,
ref smoothedPosition);
}