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make lean calc more robust

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This commit is contained in:
Joe Ardent 2023-02-21 14:10:49 -08:00
parent 8cd901dadc
commit 851f2fb650
1 changed files with 3 additions and 1 deletions
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4
src/action/systems.rs
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@ -64,8 +64,10 @@ pub(super) fn cyber_lean(
let v2_r = v_squared / radius; let v2_r = v_squared / radius;
let tan_theta = (v2_r / gravity).clamp(-FRAC_PI_3, FRAC_PI_3); let tan_theta = (v2_r / gravity).clamp(-FRAC_PI_3, FRAC_PI_3);
if v2_r.is_normal() { if tan_theta.is_finite() && !tan_theta.is_subnormal() {
lean.lean = tan_theta.atan().clamp(-FRAC_PI_4, FRAC_PI_4); lean.lean = tan_theta.atan().clamp(-FRAC_PI_4, FRAC_PI_4);
} else {
lean.lean = 0.0;
} }
} }