Rotation for obstacles is possible (multiple revolutions). The rotational speed can not change over time and it is only supported for fixed time horizons (p2p fixedT). The basic idea behind the rotation is the (exact) nurbs representation of a cosine and sine. The shift of the time horizon can be done by using goniometric identities of the cosine/sine of a sum.
Pushed an example with a revolving door. This problem is however very complex and suffers from local optima.
Rotation for obstacles is possible (multiple revolutions). The rotational speed can not change over time and it is only supported for fixed time horizons (p2p fixedT). The basic idea behind the rotation is the (exact) nurbs representation of a cosine and sine. The shift of the time horizon can be done by using goniometric identities of the cosine/sine of a sum. Pushed an example with a revolving door. This problem is however very complex and suffers from local optima.