// ----------------------------------------------------------------------------
// tries to maintain a given speed, returns a maxForce-clipped steering
// force along the forward/backward axis
public Vector3 steerForTargetSpeed(float targetSpeed)
{
float mf = maxForce();
float speedError = targetSpeed - speed();
return(forward() * OpenSteerUtility.clip(speedError, -mf, +mf));
}
// ----------------------------------------------------------------------------
// apply a given steering force to our momentum,
// adjusting our orientation to maintain velocity-alignment.
public void applySteeringForce(Vector3 force, float elapsedTime)
{
Vector3 adjustedForce = adjustRawSteeringForce(force); //, elapsedTime);
// enforce limit on magnitude of steering force
//Vector3 clippedForce = adjustedForce.truncateLength (maxForce ());
//Vector3 clippedForce = adjustedForce.truncateLength(maxForce());
Vector3 clippedForce = truncateLength(adjustedForce, maxForce());
// compute acceleration and velocity
Vector3 newAcceleration = (clippedForce / mass());
Vector3 newVelocity = velocity();
// damp out abrupt changes and oscillations in steering acceleration
// (rate is proportional to time step, then clipped into useful range)
if (elapsedTime > 0)
{
float smoothRate = OpenSteerUtility.clip(9 * elapsedTime, 0.15f, 0.4f);
_smoothedAcceleration = OpenSteerUtility.blendIntoAccumulator(smoothRate,
newAcceleration,
_smoothedAcceleration);
}
// Euler integrate (per frame) acceleration into velocity
newVelocity += _smoothedAcceleration * elapsedTime;
// enforce speed limit
//newVelocity = newVelocity.truncateLength (maxSpeed ());
newVelocity = truncateLength(newVelocity, maxSpeed());
// update Speed
setSpeed(newVelocity.Length);
// Euler integrate (per frame) velocity into position
setPosition(Position + (newVelocity * elapsedTime));
// regenerate local space (by default: align vehicle's forward axis with
// new velocity, but this behavior may be overridden by derived classes.)
regenerateLocalSpace(newVelocity); //, elapsedTime);
// maintain path curvature information
measurePathCurvature(elapsedTime);
// running average of recent positions
_smoothedPosition = OpenSteerUtility.blendIntoAccumulator(elapsedTime * 0.06f, // QQQ
Position,
_smoothedPosition);
}