/*
Vector3 SteeringVehicle::predictFuturePosition(const float predictionTime) const
{
//return position() +(velocity() * predictionTime);
return getVelocity() * predictionTime;
}
*/
Vector3 SteeringVehicle::adjustRawSteeringForce(const Vector3& force)
{
const float maxAdjustedSpeed = 0.2f * getMaxSpeed();
if ((getSpeed() > maxAdjustedSpeed) ||(force == Vector3::ZERO))
{
return force;
}
else
{
const float range = getSpeed() / maxAdjustedSpeed;
// const float cosine = interpolate(pow(range, 6), 1.0f, -1.0f);
// const float cosine = interpolate(pow(range, 10), 1.0f, -1.0f);
// const float cosine = interpolate(pow(range, 20), 1.0f, -1.0f);
// const float cosine = interpolate(pow(range, 100), 1.0f, -1.0f);
// const float cosine = interpolate(pow(range, 50), 1.0f, -1.0f);
const float cosine = interpolate(pow(range, 20), 1.0f, -1.0f);
return limitMaxDeviationAngle(force, cosine, getForward());
}
}
OpenSteer::Vec3
OpenSteer::SimpleVehicle::adjustRawSteeringForce (const Vec3& force,
const float /* deltaTime */)
{
const float maxAdjustedSpeed = 0.2f * maxSpeed ();
if ((speed () > maxAdjustedSpeed) || (force == Vec3::zero))
{
return force;
}
else
{
const float range = speed() / maxAdjustedSpeed;
// const float cosine = interpolate (pow (range, 6), 1.0f, -1.0f);
// const float cosine = interpolate (pow (range, 10), 1.0f, -1.0f);
// const float cosine = interpolate (pow (range, 20), 1.0f, -1.0f);
// const float cosine = interpolate (pow (range, 100), 1.0f, -1.0f);
// const float cosine = interpolate (pow (range, 50), 1.0f, -1.0f);
const float cosine = interpolate (pow (range, 20), 1.0f, -1.0f);
return limitMaxDeviationAngle (force, cosine, forward());
}
}