/// <summary>
/// Navigate away from target position x, y
/// </summary>
public virtual Movement NaviAwayTarget(double x, double y, int maxSpd = 70, int rotateTime = 250)
{
this.result = base.GetWaypointAway(x, y);
var spd = Min(this.result.speedLimit, maxSpd * this.result.speedRatio);
var mv = handle.Move2Target(this.result.waypoint,
maxSpd: spd, rotateTime: rotateTime, tolerance: 8);
return(mv);
}
/// <summary>
/// Navigate to target position with x, y
/// </summary>
public virtual Movement Navi2Target(double x, double y, int maxSpd = 70, int rotateTime = 250, double tolerance = 20)
{
this.result = base.GetWaypointTo(x, y);
var spd = Min(this.result.speedLimit, maxSpd * this.result.speedRatio);
var mv = handle.Move2Target(this.result.waypoint,
maxSpd: spd, rotateTime: rotateTime, tolerance: 8
);
if (ego.pos.distTo(new Vector(x, y)) <= tolerance && mv.reached)
{
return(mv);
}
else
{
mv.reached = false; return(mv);
}
}
