// From CPP
// ----------------------------------------------------------------------------
// adjust the steering force passed to applySteeringForce.
//
// allows a specific vehicle class to redefine this adjustment.
// default is to disallow backward-facing steering at low speed.
//
// xxx should the default be this ad-hocery, or no adjustment?
// xxx experimental 8-20-02
//
// parameter names commented out to prevent compiler warning from "-W"
public Vector3 adjustRawSteeringForce(Vector3 force)//, const float /* deltaTime */)
{
float maxAdjustedSpeed = 0.2f * MaxSpeed();
if ((Speed() > maxAdjustedSpeed) || (force == Vector3.zero))
{
return(force);
}
else
{
float range = Speed() / maxAdjustedSpeed;
float cosine = OpenSteerUtility.interpolate((float)System.Math.Pow(range, 20), 1.0f, -1.0f);
return(OpenSteerUtility.limitMaxDeviationAngle(force, cosine, Forward()));
}
}
public override Vector3 mapPathDistanceToPoint(float pathDistance)
{
// clip or wrap given path distance according to cyclic flag
float remaining = pathDistance;
if (cyclic)
{
remaining = (float)System.Math.IEEERemainder(pathDistance, totalPathLength);
//remaining = (float) fmod (pathDistance, totalPathLength);
}
else
{
if (pathDistance < 0)
{
return(points[0]);
}
if (pathDistance >= totalPathLength)
{
return(points [pointCount - 1]);
}
}
// step through segments, subtracting off segment lengths until
// locating the segment that contains the original pathDistance.
// Interpolate along that segment to find 3d point value to return.
Vector3 result = Vector3.zero;
for (int i = 1; i < pointCount; i++)
{
segmentLength = lengths[i];
if (segmentLength < remaining)
{
remaining -= segmentLength;
}
else
{
float ratio = remaining / segmentLength;
result = OpenSteerUtility.interpolate(ratio, points[i - 1], points[i]);
break;
}
}
return(result);
}
