int
grid::closest_point(const vector& r) const {
int i;
int j;
int k;
i = closest_int((r(1)-lbnd[0])/spacing);
j = closest_int((r(2)-lbnd[1])/spacing);
k = closest_int((r(3)-lbnd[2])/spacing);
return array2index(i,j,k);
}
int CyclesForBallToPoint(Vector pt, float targ_vel_at_pt, float max_kick_speed,
Vector mypos, float ball_decay)
{
if (targ_vel_at_pt < FLOAT_EPS)
my_error("Shouldn't call CyclesForBallToPoint with ~0 targ_vel: %f", targ_vel_at_pt);
float kick_spd = Min(max_kick_speed,
VelAtPt2VelAtFoot_sh(pt, targ_vel_at_pt, mypos, ball_decay));
float steps = SolveForLengthGeomSeries(kick_spd, ball_decay, mypos.dist(pt));
return (steps < 0 ? -1 : closest_int(steps));
}
int kick_time_helper(Vector start, Vector end, float targ_vel_at_pt,
float max_kick_speed, int cycles_to_kick)
{
float init_vel = VelAtPt2VelAtFoot_sh(end, targ_vel_at_pt, start,
Mem->SP_ball_decay);
init_vel = Min(init_vel, max_kick_speed);
int num_cycles = closest_int(ceil(SolveForLengthGeomSeries(init_vel,
Mem->SP_ball_decay,
start.dist(end))));
num_cycles += cycles_to_kick;
return num_cycles;
}