rc2007-soccer/source/Concept/Framework/modules/interpreter/position_tracker.c

#include "position_tracker.h"

//-----------------------------------------------------------------------------
void Position_Tracker::Update()
{
	Mouse_Sensor* mouseLeft = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);
	Mouse_Sensor* mouseRight = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);

	int8 leftX = mouseLeft->GetXMovement();
	int8 leftY = mouseLeft->GetYMovement();
	float distanceLeft = sqrt(leftX * leftX + leftY * leftY);
	float angleLeft = easyAngle(atan2(leftY, leftX) + (225.0f * PI / 180.0f));

	float movementLeftX = cos(angleLeft) * distanceLeft;
	float movementLeftY = sin(angleLeft) * distanceLeft;

	if(!leftX && !leftY)
	{
		movementLeftX = 0;
		movementLeftY = 0;
	}

	int8 rightX = mouseRight->GetXMovement();
	int8 rightY = mouseRight->GetYMovement();
	float distanceRight = sqrt(rightX * rightX + rightY * rightY);
	float angleRight = easyAngle(atan2(rightY, rightX) - (45.0f * PI / 180.0f));

	float movementRightX = cos(angleRight) * distanceRight;
	float movementRightY = sin(angleRight) * distanceRight;

	if(!rightX && !rightY)
	{
		movementRightX = 0;
		movementRightY = 0;
	}

	float movementDifferenceX = movementRightX - movementLeftX;
	float movementDifferenceY = (movementRightY + mouseRight->GetPositionY()) - (movementLeftY + mouseLeft->GetPositionY());

	float robotMovementX = movementDifferenceX / 2.0f;
	float robotMovementY = movementDifferenceY / 2.0f;
	robotMovementX += movementLeftX;
	robotMovementY += movementLeftY + mouseLeft->GetPositionY();
	//float robotDistance = sqrt(robotMovementX * robotMovementX + robotMovementY * robotMovementY);

	float orientationDiff = atan2(movementDifferenceY, movementDifferenceX) - (PI / 2.0f);

	float absoluteDiffX = cos(this->orientation + (orientationDiff / 2.0f)) * robotMovementX - sin(this->orientation + (orientationDiff / 2.0f)) * robotMovementY;
	float absoluteDiffY	= sin(this->orientation + (orientationDiff / 2.0f) + PI / 2.0f) * robotMovementY + cos(this->orientation + (orientationDiff / 2.0f) - PI / 2.0f) * robotMovementX;

	//float absoluteDiffX = cos(this->orientation + (orientationDiff / 2.0f)) * robotDistance * sign(robotMovementX);
	//float absoluteDiffY	= sin(this->orientation + (orientationDiff / 2.0f)) * robotDistance * sign(robotMovementY);

	if(!robotMovementX && !robotMovementY)
	{
		absoluteDiffX = 0;
		absoluteDiffY = 0;
	}

	//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("            ", 5, 1);
	//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(absoluteDiffX, 5, 1);
	//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(absoluteDiffY, 12, 1);

	this->positionX += absoluteDiffX;
	this->positionY += absoluteDiffY;

	this->orientation += orientationDiff;

	this->orientation = easyAngle(this->orientation);
}