public void Execute(ref VehiclePathing p, ref VehicleTargetPosition pos, [ReadOnly] ref VehiclePhysicsState physicsState)
{
var rs = RoadSections[p.RoadIndex];
float3 c0 = CatmullRom.GetPosition(rs.p0, rs.p1, rs.p2, rs.p3, p.curvePos);
float3 c1 = CatmullRom.GetTangent(rs.p0, rs.p1, rs.p2, rs.p3, p.curvePos);
float3 c2 = CatmullRom.GetConcavity(rs.p0, rs.p1, rs.p2, rs.p3, p.curvePos);
float curveSpeed = length(c1);
pos.IdealPosition = c0;
pos.IdealSpeed = p.speed;
if (lengthsq(physicsState.Position - c0) < kMaxTetherSquared)
{
p.curvePos += Constants.VehicleSpeedFudge / rs.arcLength * p.speed / curveSpeed * DeltaTimeSeconds;
}
}