braking

thrusterutilsai.js

// We're traveling in the same direction we want to go, so do we
// need to brake?
var brakeDist = 0;
var wantsBrake = false;
if ( result.ccw === angularVelocity > 0 ) {
  var brakeTime = -angularVelocity / ( brakeTorque * inverseInertia );
  brakeDist = brakeTime * angularVelocity * 0.5;
  wantsBrake = Math.abs(brakeDist) - Math.abs(targetAngle) > -0.01;
}

if ( wantsBrake ) {
  result.brakeDist = brakeDist;

  var tmp = desiredTorque;
  desiredTorque = brakeTorque;
  brakeTorque = tmp;
} else {
  result.brakeDist = 0;
}