Re: DT in BGT
It's hard to say for sure just because Im reading on mobile, but it does look like the right direction.
As for reversing direction, flipping the sign is equivalent to moving in the oppisite direction. If you really wanted to flip the direction by using a different value for theta, you'd add or subtract pi. I'd generally just go with −1*vel, since all you have to do is change a + to a −. Or—I haven't thought about this much but the math checks out—if you want to use the move function you already, have, well, if you're technically reversing time, maybe send −1*dt? I don't know how stable that strategy would be, but I suppose that'd be ideal. I still lean toward the history method for a simple system, because entropy.
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