Class AnglePIDController

float ApproximateTurningRadius (

float

followingStrength

)

An approximate turning radius the agent will have in an open space.

This is based on the PID controller in the Control method.

AnglePIDControlOutput2D Control (

refPIDMovement	settings	Various movement settings
float	followingStrength	The integral term of the PID controller. The higher this value is, the quicker the agent will try to align with the curve.
float	angle	The current direction of the agent, in radians.
float	curveAngle	The angle of the curve tangent at the nearest point, in radians.
float	curveCurvature	The curvature of the curve at the nearest point. Positive values means the curve is turning to the left, negative values means the curve is turning to the right.
float	curveDistanceSigned	The signed distance from the agent to the curve. Positive values means the agent is to the right of the curve, negative values means the agent is to the left of the curve.
float	speed	How quickly the agent should move. In meters/second.
float	remainingDistance	The remaining distance to where the agent should stop. In meters.
float	minRotationSpeed	The minimum rotation speed of the agent. In radians/second. Unless the agent does not desire to rotate at all, it will rotate at least this fast.
bool	isStationary	Should be true if the agent is currently standing still (or close to it). This allows it to rotate in place.
float	dt	How long the current time-step is. In seconds.

)

How much to rotate and move in order to smoothly follow a given curve.

If the maximum rotation speed (settings.maxRotationSpeed) would be exceeded, the agent will slow down to avoid exceeding it (up to a point).

float FollowingStrengthToRotationSpeed (

float

followingStrength

)

float RotationSpeedToFollowingStrength (

float	speed
float	maxRotationSpeed

)

Given a speed and a rotation speed, what is the approximate corresponding following strength.

This is based on the PID controller in the Control method.

const float DampingRatio = 1.0f