+++ another fix to position tracker

1 files changed, 5 insertions, 5 deletions

diff --git a/source/Concept/Framework/modules/interpreter/position_tracker.c b/source/Concept/Framework/modules/interpreter/position_tracker.c
index 57a6ba7..63a7f5f 100755
--- a/source/Concept/Framework/modules/interpreter/position_tracker.c
+++ b/source/Concept/Framework/modules/interpreter/position_tracker.c
@@ -34,17 +34,17 @@ void Position_Tracker::Update()
 		movementRightY = 0;

 	}

 

-	float movementDifferenceX = movementRightX - movementLeftX;

+	float movementDifferenceX = (movementRightX + mouseRight->GetPositionX()) - (movementLeftX + mouseLeft->GetPositionX());

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

 

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

+

 	float robotMovementX = movementDifferenceX / 2.0f;

 	float robotMovementY = movementDifferenceY / 2.0f;

-	robotMovementX += movementLeftX;

-	robotMovementY += movementLeftY + mouseLeft->GetPositionY();

+	robotMovementX += movementLeftX + mouseLeft->GetPositionX() + (-mouseLeft->GetPositionX() * cos(orientationDiff));

+	robotMovementY += movementLeftY + mouseLeft->GetPositionY() + (-mouseLeft->GetPositionX() * sin(orientationDiff));

 	//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;