To observe the derivation of the formulas below, we try to find the moment of inertia of an object such as a rectangle about its major axis using just the formula above. To get the moment of inertia, the limits have to be determined such that they are taken from the axis of rotation ...
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The ability to check if a given obstacle was already overtaken is included (when the CG is ahead of all the edges of the rectangle representing that same obstacle); The ability to change the repulsive and attractive gains if a collision is predicted (by projecting the current trajectory a fix...