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+++ another fix to position tracker

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masterm 2007-02-21 14:28:03 +00:00
parent db238a3b60
commit 9525458918
1 changed files with 5 additions and 5 deletions
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10
source/Concept/Framework/modules/interpreter/position_tracker.c
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@ -34,17 +34,17 @@ void Position_Tracker::Update()
movementRightY = 0; movementRightY = 0;
} }
float movementDifferenceX = movementRightX - movementLeftX; float movementDifferenceX = (movementRightX + mouseRight->GetPositionX()) - (movementLeftX + mouseLeft->GetPositionX());
float movementDifferenceY = (movementRightY + mouseRight->GetPositionY()) - (movementLeftY + mouseLeft->GetPositionY()); float movementDifferenceY = (movementRightY + mouseRight->GetPositionY()) - (movementLeftY + mouseLeft->GetPositionY());
float orientationDiff = atan2(movementDifferenceY, movementDifferenceX) - (PI / 2.0f);
float robotMovementX = movementDifferenceX / 2.0f; float robotMovementX = movementDifferenceX / 2.0f;
float robotMovementY = movementDifferenceY / 2.0f; float robotMovementY = movementDifferenceY / 2.0f;
robotMovementX += movementLeftX; robotMovementX += movementLeftX + mouseLeft->GetPositionX() + (-mouseLeft->GetPositionX() * cos(orientationDiff));
robotMovementY += movementLeftY + mouseLeft->GetPositionY(); robotMovementY += movementLeftY + mouseLeft->GetPositionY() + (-mouseLeft->GetPositionX() * sin(orientationDiff));
//float robotDistance = sqrt(robotMovementX * robotMovementX + robotMovementY * robotMovementY); //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 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 absoluteDiffY = sin(this->orientation + (orientationDiff / 2.0f) + PI / 2.0f) * robotMovementY + cos(this->orientation + (orientationDiff / 2.0f) - PI / 2.0f) * robotMovementX;