protected SteeringCommand TurnToVelocity(SteeringCommand steering_command, double delta_time)
{
var physic = Subject.GetComponent <Physic>();
if (physic.Velocity.LengthSquared <= DistanceEpsilonSquared)
{
return(steering_command);
}
var max_torque = 1;
var target = physic.Velocity;
var actual = Subject.ForwardRelative;
var direction = Vector3d.Cross(actual, target);
var distance = 1 - Vector3d.Dot(target, actual) / target.Length / actual.Length;
if (distance > RotationEpsilon)
{
var deceleration = physic.AngularVelocity.Length;
var velocity_0 = physic.AngularVelocity.Length;
var slowing_distance = System.Math.Pow(deceleration, 2) / 2 + velocity_0 * delta_time; // / max_torque * entity.Inertia; // slowing_distance = decelertation^2/2 + velocity_0 * delta_time
if (distance > slowing_distance)
{
steering_command.Torque = direction.Normalized() * max_torque;
}
else
{
steering_command.Torque = -1 * physic.AngularVelocity.Normalized() * max_torque;
}
}
return(steering_command);
}
protected SteeringCommand Arrive(Vector3d target, double delta_time)
{
var physic = Subject.GetComponent <Physic>();
var steering_command = new SteeringCommand();
var max_force = physic.thrust;
var direction = Seek(target, delta_time) - physic.Velocity - physic.Velocity * delta_time;
var distance = direction.Length;
if (distance > DistanceEpsilon)
{
var deceleration = physic.Velocity.Length;
var velocity_0 = physic.Velocity.Length;
var slowing_distance = System.Math.Pow(deceleration, 2) / 2 + velocity_0 * delta_time; // / max_force * entity.Mass; // slowing_distance = decelertation^2/2 + velocity_0 * delta_time
if (distance > slowing_distance)
{
steering_command.Force = direction / distance * max_force;
}
else
{
steering_command.Force = -1 * physic.Velocity.Normalized() * max_force;
}
}
return(steering_command);
}
protected void Steer(SteeringCommand steering_command, double delta_time)
{
var physic = Subject.GetComponent <Physic>();
if (steering_command.Force.LengthSquared > DistanceEpsilonSquared)
{
physic.Force += steering_command.Force - physic.Velocity;
}
if (steering_command.Torque.LengthSquared > DistanceEpsilonSquared)
{
physic.Torque += steering_command.Torque - physic.AngularVelocity;
}
}
