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Hmm... I've been thinking about smoothing for a while now, and I think I just had a thought that could make "FancyStick"-like smoothing far simpler. Imagine a circle like in the diagram near the top of this page. Now imagine one on each side of the bot, and then essentially represent the path of the bot when moving at top speed and turning as much as possible in a direction. If the circles are both far from any walls, nothing need be done, if a circle is very near to a wall, it means the bot must turn if it is to keep going towards the wall. If a circle intersects the field boundry however, it means the bot cannot keep going in that direction without either hitting the wall or slowing down. My thought is, why bother "smoothing" an angle? The location of the circles relative to the wall, effectively can just have 3 meanings for each "quadrent" around the bot. Instead of smoothing a goal angle, one could set either "can't go that way", "Can move freely that way", or "Must turn sharply if going that way", for each of the corners (forward left, forward right, back left, back right). All that could be lost with that approach I believe, is a very small amount of precision, but does that really matter? It would still wall-hug far tighter than traditional WallSmoothing. Maybe I'm just making a fool of myself though and am missing some point. -- Rednaxela |
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