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After placing the ship on the route, the possibility of a collision is checked. In case of a possible collision, its position is changed to avoid this. It turns out that this calculation worked incorrectly, because the
FromVectors
function creates a matrix using vectors ascolumns, and in the further calculation it is assumed that vectors are rows.
Also removed unnecessary
Frame
object retrieval byFrameId
.This video shows that now everything is working as it should (at least in the video). The dangerous trajectory that was originally shown in red, the new safe trajectory is shown in blue, and the alternative trajectory (also safe, but on the other side of the obstructor) in gray.
coll.mp4
Two cases are shown - when the ship is out of the target frame, and when it is in the same frame with the target. In the first case, the trajectory turns so as not to fall into a dangerous proximity, and in the second case, the ship moves to the normal to the planet's surface.