def projectPosition(self,bgeCar):
fun = '[projectPosition]'
idx_inf = bgeCar.racingLinePointInf
idx_sup = bgeCar.racingLinePointSup
fact = 0.4
speed = bgeCar.getSpeed()
dist = speed * fact
## self.logger.info(fun + 'expected distance: ' + str(dist))
#we project car object position orthogonally on the spline
carobj_position_orth = tools3d.projectOrth(bgeCar.getPosition(),
self.getCoord(idx_inf),
self.getCoord(idx_sup))
## self.logger.info(fun + 'distance to orth pos: ' + str((bgeCar.getPosition()-carobj_position_orth).length))
#then we project forward on the spline
final_position = self.projectPointToDistance(carobj_position_orth,idx_sup,dist)
## self.logger.info(fun + 'actual distance: ' + str((bgeCar.getPosition()-final_position).length))
## self.logger.info(fun + 'difference: ' + str((bgeCar.getPosition()-final_position).length-dist))
return final_position
def getOrthPosition(self):
return tools3d.projectOrth(self.getPosition(),
self.racingLine.getCoord(self.racingLinePointInf),
self.racingLine.getCoord(self.racingLinePointSup))