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SamPlay · **Re: Podbot Beta 3.0 Updates? ^^ -** 26-12-2010

hi,
as regards bots not following the path defined by your waypoints, there is nothing you can do but anticipating the inertia of the moving bot and adjust your waypoints accordingly.
This a flaw in the way all bots I know of use waypoints for trajectory control: they move straight towards the next waypoint WHATEVER THEIR CURRENT POSITION relative to the SEGMENT linking the 2 waypoints; that means that depending on when the bot switches from one waypoint to the next, it may "overshoot" ( most of the time) or "undershoot", especially with big angle differences and high speed.
The ideal position/time for switching is easy to compute and code thanks to how the Half-life engine computes moves, but the problem cannot be solved for all cases without resorting to speed control.
I have done it with a nav system that strives to nullify the distance to the segment: it works very well, but it is requires a bit more computations and having to use available waypoint graphs where you have no idea of the width of the "free" path between waypoints is a bit of a problem.
I hope this clarifies the issue.

	(#507)
SamPlay Member Status: Offline Posts: 46 Join Date: Jan 2006	Re: Podbot Beta 3.0 Updates? ^^ - 26-12-2010 hi, as regards bots not following the path defined by your waypoints, there is nothing you can do but anticipating the inertia of the moving bot and adjust your waypoints accordingly. This a flaw in the way all bots I know of use waypoints for trajectory control: they move straight towards the next waypoint WHATEVER THEIR CURRENT POSITION relative to the SEGMENT linking the 2 waypoints; that means that depending on when the bot switches from one waypoint to the next, it may "overshoot" ( most of the time) or "undershoot", especially with big angle differences and high speed. The ideal position/time for switching is easy to compute and code thanks to how the Half-life engine computes moves, but the problem cannot be solved for all cases without resorting to speed control. I have done it with a nav system that strives to nullify the distance to the segment: it works very well, but it is requires a bit more computations and having to use available waypoint graphs where you have no idea of the width of the "free" path between waypoints is a bit of a problem. I hope this clarifies the issue.