def smart_drive_to(bot, target: Vec3) -> Turn:
"""
Find a turn that will get us to the target position and avoid creating short line segments
"""
car = bot.info.my_car
speed = min(2295, norm(car.vel) * 1.4)
next_turn_pos = car.pos if bot.can_turn(
) else car.pos + car.forward * speed * bot.time_till_turn()
line_seg_min_len = speed * TURN_COOLDOWN
# local.x: how far in front of my car
# local.y: how far to the left of my car
# local.z: how far above my car
delta_local = dot(target - next_turn_pos, car.rot)
SOME_SMALL_VALUE = 20
if delta_local.x < 0:
delta_local.x = -delta_local.x
if SOME_SMALL_VALUE < delta_local.x < line_seg_min_len:
# Turning now results in a miss later
return Turn.no_turn(car)
else:
return drive_to(bot, target)
