float3
OpenSteer::SteerLibrary::
steerForTargetSpeed (const AbstractVehicle& v,
const float targetSpeed)
{
const float mf = v.maxForce ();
const float speedError = targetSpeed - v.speed ();
return float3_scalar_multiply(make_float3(v.forward ()), clip (speedError, -mf, +mf));
}
OpenSteer::Vec3
OpenSteer::Obstacle::PathIntersection::
steerToAvoidIfNeeded (const AbstractVehicle& vehicle,
const float minTimeToCollision) const
{
// if nearby intersection found, steer away from it, otherwise no steering
const float minDistanceToCollision = minTimeToCollision * vehicle.speed();
if (intersect && (distance < minDistanceToCollision))
{
// compute avoidance steering force: take the component of
// steerHint which is lateral (perpendicular to vehicle's
// forward direction), set its length to vehicle's maxForce
Vec3 lateral = steerHint.perpendicularComponent (vehicle.forward ());
if (lateral == Vec3::zero)
lateral = vehicle.side ();
return lateral.normalize () * vehicle.maxForce ();
}
else
{
return Vec3::zero;
}
}