bool Spatial::rotateToHeading(Vec2d pos)
{
Vec2d toTarget = Vec2d(pos-mPos);
toTarget.normalize();
double angle = acos(mHeading.dot(pos));
if (angle < 0.000001)
return true;
if (angle > mMaxTurnRate)
angle = mMaxTurnRate;
Mat3d rotationMat;
rotationMat.rotate(angle*mHeading.sign(toTarget));
rotationMat.transformVec2d(mHeading);
rotationMat.transformVec2d(mVelocity);
mSide = mHeading.perp();
return false;
}
