velocityCorrection.java

private Vector2 getVelocityCorrectionSteerpoint(Vector2 waypoint) {
        if (waypoint == null) {
            return null;
        }
        Vector2 selfVel = body.getLinearVelocity().cpy();
        // if this is not a regular waypoint, but instead a point we should chase
        // (like a moving enemy target) then we want to correct for the target's velocity as well
        if (isChaseTargetPosition(waypoint)) {
            // add target's velocity to the waypoint, so we can predict movement
            Vector2 targVel = targetEntity.body.getLinearVelocity();
            waypoint.add(targVel);
        }
        Vector2 selfPos = body.getPosition();
        // desired velocity is target's position minus our position
        Vector2 desiredVelocity = waypoint.cpy().sub(selfPos);
        // The correction we need to make to the waypoint is
        // the difference between desire velocity and current velocity
        Vector2 steeringCorrection = desiredVelocity.sub(selfVel);
        // new waypoint = old waypoint + steering correction
        Vector2 steeringCorrectionPoint = steeringCorrection.add(waypoint);
        return steeringCorrectionPoint;
    }