Hello, jazzer, you wrote: J> Hello, sjukov, you wrote: S>> we assume To eat object (known mass, and overall dimensions) which moves on track A - B - a C with in the speed. S>> after a section of way A - B, the object should lay down on course B - a C. In my present implementation object S>> lays down on new course instantly that looks improbably It would be desirable that at achievement any S>> a certain point the object started to turn ( so to manage to come into turn with the given speed. J> if you came nearer to a point In on any small distance - start to twist a direction vector aside With (no more than how many degrees for a step), and continue it to do, while the vector not begins to look on With. Depending on speed and the maximum angle of rotation for a step it is possible to calculate distance to a point In, when it is necessary to launch turn not strongly to fly by by a point of Century J> If the linear speed in turn too is set, it is necessary to calculate the moment of the beginning of braking taking into account the maximum acceleration that speed became correct by the time of an input in turn. J> all constants steal up experimentally that on the screen most naturally looked. Thanks. Made somehow so: L = length of case N = a constant from a ceiling, equal for example 3 L1 = from center of masses of object, to the following traveling point A1 = a corner between route shoulders (internal) A2 = the current rate from the last traveling point to following If from current position to a traveling point remains less than L * N the course is equal: COG = A2 + (L1/L*N) * A1 Then the length of the case though somehow corresponds with mass. Thanks big for thought.