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+++ CRIT! corrected position tracker formula

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masterm 2007-02-21 07:30:02 +00:00
parent 22433e52a7
commit db238a3b60
1 changed files with 6 additions and 3 deletions
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9
source/Concept/Framework/modules/interpreter/position_tracker.c
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@ -41,12 +41,15 @@ void Position_Tracker::Update()
float robotMovementY = movementDifferenceY / 2.0f; float robotMovementY = movementDifferenceY / 2.0f;
robotMovementX += movementLeftX; robotMovementX += movementLeftX;
robotMovementY += movementLeftY + mouseLeft->GetPositionY(); robotMovementY += movementLeftY + mouseLeft->GetPositionY();
float robotDistance = sqrt(robotMovementX * robotMovementX + robotMovementY * robotMovementY); //float robotDistance = sqrt(robotMovementX * robotMovementX + robotMovementY * robotMovementY);
float orientationDiff = atan2(movementDifferenceY, movementDifferenceX) - (PI / 2.0f); float orientationDiff = atan2(movementDifferenceY, movementDifferenceX) - (PI / 2.0f);
float absoluteDiffX = cos(this->orientation + (orientationDiff / 2.0f)) * robotDistance * sign(robotMovementX); float absoluteDiffX = cos(this->orientation + (orientationDiff / 2.0f)) * robotMovementX - sin(this->orientation + (orientationDiff / 2.0f)) * robotMovementY;
float absoluteDiffY = sin(this->orientation + (orientationDiff / 2.0f)) * robotDistance * sign(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) if(!robotMovementX && !robotMovementY)
{ {