+++ CRIT! corrected position tracker formula

1 files changed, 6 insertions, 3 deletions

diff --git a/source/Concept/Framework/modules/interpreter/position_tracker.c b/source/Concept/Framework/modules/interpreter/position_tracker.c
index c8cd52d..57a6ba7 100755
--- a/source/Concept/Framework/modules/interpreter/position_tracker.c
+++ b/source/Concept/Framework/modules/interpreter/position_tracker.c
@@ -41,12 +41,15 @@ void Position_Tracker::Update()
 	float robotMovementY = movementDifferenceY / 2.0f;

 	robotMovementX += movementLeftX;

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

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

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

 

 	if(!robotMovementX && !robotMovementY)

 	{