public override void _Update(float deltaTime, ViVector3 target)
{
ViVector3 diffDir = target - Translate;
diffDir.Normalize();
if (_direction == diffDir)
{
_velocity = _direction * _speed;
}
else
{
ViVector3 rotateAxis = ViVector3.Cross(_direction, diffDir);
rotateAxis.Normalize();
const float STABLE = 0.0001f;
// 计算公式与变量定义
// V 线速度
// W 角速度
// A 侧向加速度
// R 运动半径
// W = V/R;
// A = (V*V)/R = W*W*R = V*W;
float angleDiff = ViVector3.Angle(diffDir, _direction);
float destW = 4.0f * Math.Abs((angleDiff + STABLE) / (_duration + STABLE));
float destA = destW * Speed;
float destLateralAngle = (float)Math.Atan2(destA, _gravity);
//
_rollSpd = 3.0f * (destLateralAngle - _lateralAngle + STABLE) / (_duration + STABLE);
if (destLateralAngle > _lateralAngle)
{
_lateralAngle = ViMathDefine.MoveTowards(_lateralAngle, destLateralAngle, _rollSpd * deltaTime);
}
else
{
_lateralAngle = destLateralAngle;
}
float currentA = (float)Math.Tan(_lateralAngle) * _gravity;
float currentW = currentA / Speed;
float deltaAngle = currentW * deltaTime;
//
ViQuaternion rotateQuat = ViQuaternion.FromAxisAngle(rotateAxis, deltaAngle);
ViVector3 newDir = rotateQuat * _direction;
newDir.Normalize();
_velocity = (newDir + _direction) * _speed * 0.5f;
if (ViVector3.Dot(ViVector3.Cross(_direction, newDir), ViVector3.Cross(newDir, diffDir)) < 0.0f) // 插值抖动
{
_lateralSign = 0.0f;
_direction = diffDir;
}
else
{
_direction = newDir;
_lateralSign = (rotateAxis.z > 0.0f) ? 1.0f : -1.0f;
}
}
}
public bool In(ViVector3 center, ViVector3 pos, float range)
{
ViVector3 delta = pos - center;
float len = ViVector3.Dot(delta, _dir);
if (len < 0.0f || len > (Len + range))
{
return(false);
}
ViVector3 prjLen = _dir * len;
ViVector3 prjWidth = delta - prjLen;
float halfWidth2 = prjWidth.sqrMagnitude;
if (halfWidth2 > (HalfWidth + range) * (HalfWidth + range))
{
return(false);
}
return(true);
}