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don't change velocity too suddenly

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This commit is contained in:
Joe Ardent 2023-11-26 15:12:57 -08:00
parent 9309d53870
commit 2049fbcc00
1 changed files with 13 additions and 5 deletions
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18
src/lib.rs
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@ -7,6 +7,7 @@ pub type NNTree = KDTree3<Toid>;
// toid
const SPEED: f32 = 5.0;
const SPEED_DIFF_RANGE: f32 = 0.1; // +/- 8%
const MAX_DELTA_V: f32 = std::f32::consts::PI * 2.0; // basically 360 degrees/sec
// how far from origin before really wanting to come back
const RADIUS: f32 = 400.0;
@ -73,9 +74,12 @@ pub fn turkey_time(
pub fn update_vel(
mut toids: Query<(&Transform, &mut Velocity, &Toid, &Buddies, Entity)>,
time: Res<Time>,
positions: Res<Positions>,
index: Res<NNTree>,
) {
let dt = time.delta_seconds();
let max_delta = MAX_DELTA_V * dt;
for (xform, mut vel, toid, buddies, entity) in toids.iter_mut() {
let speed = toid.speed;
let mut dir = vel.normalize();
@ -112,8 +116,8 @@ pub fn update_vel(
let bp = neighbor.0;
let bdir = pos - bp;
let dist = bdir.length();
let rot = Quat::from_rotation_arc(dir, bdir.normalize());
let s = 1.0 - (dist / speed).min(1.0);
let rot = Quat::from_rotation_arc(dir, bdir.normalize());
let rot = Quat::IDENTITY.slerp(rot, s);
dir = rot.mul_vec3(dir).normalize();
}
@ -121,15 +125,19 @@ pub fn update_vel(
// nudge up if too low
if pos.y < MIN_ALTITUDE {
let dh = MIN_ALTITUDE - pos.y;
let pct = (dh / MIN_ALTITUDE).min(1.0);
let s = (dh / MIN_ALTITUDE).min(1.0);
let rot = Quat::from_rotation_arc(dir, Vec3::Y);
let rot = Quat::IDENTITY.slerp(rot, pct);
let rot = Quat::IDENTITY.slerp(rot, s);
dir = rot.mul_vec3(dir).normalize();
}
// make sure velocity doesn't change too suddenly
{
//
let delta = dir.dot(original_dir).acos();
if delta > max_delta {
let s = max_delta / delta;
let rot = Quat::from_rotation_arc(original_dir, dir);
let rot = Quat::IDENTITY.slerp(rot, s);
dir = rot.mul_vec3(original_dir).normalize();
}
**vel = dir * speed;