public static TankStateInfo CalcPosInFutureWithRequestedDir(Vector2 _requestDir, float timeInSecs, TankStateInfo tankInfo, out List <Vector2> passedPos)
{
TankStateInfo resultInfo = new TankStateInfo(tankInfo);
Vector2 requestDir = _requestDir;
float elapsedTime = 0;
float dt = Time.fixedDeltaTime;
List <Vector2> allPos = new List <Vector2>();
allPos.Add(resultInfo.Pos);
while (elapsedTime <= timeInSecs)
{
elapsedTime += dt;
int[] powerChange = AIUtility.CalcPowerChangeBasedOnRequestDir(requestDir, resultInfo);
resultInfo.LeftCurPower = powerChange[0];
resultInfo.RightCurPower = powerChange[1];
// Pos update
{
Vector2 f = TankUtility.CalcAppliedLinearForce(resultInfo);
float m = resultInfo.Mass;
float drag = resultInfo.LinearDrag;
Vector2 a = f / m;
resultInfo.LinearVel = (resultInfo.LinearVel + a * dt) * (1f / (1f + drag * dt));
resultInfo.Pos += resultInfo.LinearVel * dt;
allPos.Add(resultInfo.Pos);
}
// rot update
{
float torque = TankUtility.CalcAppliedTorque(resultInfo);
float angularDrag = resultInfo.AngularDrag;
float angularAccel = torque / resultInfo.Inertia * Mathf.Rad2Deg;
resultInfo.AngularVel = (resultInfo.AngularVel + angularAccel * dt) * (1f / (1f + angularDrag * dt));
float rotDiff = resultInfo.AngularVel * dt;
resultInfo.Rot += rotDiff;
requestDir = requestDir.Rotate(rotDiff);
}
}
passedPos = allPos;
return(resultInfo);
}
public void PerformActuation(Vector2 requestDir)
{
int[] powerChange = AIUtility.CalcPowerChangeBasedOnRequestDir(requestDir, new TankStateInfo(this));
this.Hull.PerformPowerChange(powerChange[0], powerChange[1]);
}