XNA c＃Lerping - 使3d对象跟随另一个3d对象

Question

我正在制作一个游戏，其中敌人AI跟随玩家3D对象。然而，我的敌人物体有时在跟随玩家并且吓坏了时痉挛。我想我的问题可能出在我的点积或我的交叉产品数学中。这是我的敌人类的代码：

//here I get the direction vector in between where I am pointing and where my enemy is located at
       Vector3 midVector = Vector3.Normalize(Vector3.Lerp(Vector3.Normalize(world.Forward), Vector3.Normalize(Vector3.Subtract(p.position,this.position)), angleVelocity));
        //here I get the vector perpendicular to this middle vector and my forward vector
       Vector3 perp=Vector3.Normalize(Vector3.Cross(midVector, Vector3.Normalize(world.Forward)));

        //here I am looking at my quaternion and I am trying to rotate it about the axis (my perp vector) with an angle that I determine which is in between where I am facing and the midVector
       float angle=(float)Math.Acos(Vector3.Dot(world.Forward,midVector));


           //Console.WriteLine(angle);



           Quaternion quaternion2 = Quaternion.CreateFromAxisAngle(perp, angle);


           quaternion = quaternion * quaternion2;

        //here I am simply scaling my world matrix, implementing my quaternion, and translating it to my position
       world = Matrix.CreateScale(scale) * Matrix.CreateFromQuaternion(quaternion) * Matrix.CreateTranslation(position);


       //here i move myself forward in the direciton that I am facing
       MoveForward(ref position, quaternion, velocity);


    }

    private void MoveForward(ref Vector3 position, Quaternion rotationQuat, float speed)
    {
        Vector3 addVector = Vector3.Transform(new Vector3(0, 0, -1), rotationQuat);
        position += addVector * speed;
    }
    public override void update()
    {

        base.update();
    }
}