void iPhysicsController::Update(float afTimeStep)
{
if(mbActive==false || mbPaused) return;
if(mpBody==NULL) return;
cVector3f vInput = GetInputValue(mInputType);
//Get the local input.
if( mbUseInputMatrixFix == false ||
(mInputType != ePhysicsControllerInput_JointAngle && mInputType != ePhysicsControllerInput_JointDist) )
{
vInput = cMath::MatrixMul(cMath::MatrixInverse(mpBody->GetLocalMatrix().GetRotation()),vInput);
}
float fValue = GetAxisValue(mInputAxis, vInput);
float fError = mfDestValue - fValue;
float fOutput = GetOutputValue(fError,fValue,afTimeStep);
if(mfMaxOutput>0)
{
if(fOutput>0)
fOutput = cMath::Min(fOutput, mfMaxOutput);
else
fOutput = cMath::Max(fOutput, -mfMaxOutput);
}
if(mbLogInfo)
Log("%s | Input: %f Dest: %f Error: %f OutPut: %f\n",msName.c_str(),fValue,mfDestValue,fError,fOutput);
AddOutputValue(mOutputType,mOutputAxis,fOutput);
////////////////////////////////////////
//Check if dest vale is reached
if(mEndType == ePhysicsControllerEnd_OnDest && mpJoint)
{
if(std::abs(fValue - mfDestValue) < kEpsilonf)
{
mbActive = false;
iPhysicsController *pNext = mpJoint->GetController(msNextController);
if(pNext) pNext->SetActive(true);
}
}
}
void DynamicDriftCorrectionAction::Draw() const
{
// Do draw some stuff for debugging
#ifdef CLIENT_DEBUG
// WebView pixels
glm::vec2 webViewPixels(_pTab->GetWebViewWidth(), _pTab->GetWebViewHeight());
// Function to move coordinate according to current zoom. Takes relative WebView coordinate
const std::function<void(glm::vec2&)> applyZooming = [&](glm::vec2& rCoordinate)
{
rCoordinate -= _relativeZoomCoordinate;
rCoordinate /= _logZoom; // inverse to WebView shader
rCoordinate += _relativeZoomCoordinate;
rCoordinate -= _relativeCenterOffset; // inverse to WebView shader
rCoordinate *= webViewPixels;
};
/*
// Zoom coordinate
glm::vec2 zoomCoordinate(_relativeZoomCoordinate);
applyZooming(zoomCoordinate);
_pTab->Debug_DrawRectangle(zoomCoordinate, glm::vec2(5, 5), glm::vec3(1, 0, 0));
*/
// Click coordinate
glm::vec2 coordinate;
if (GetOutputValue("coordinate", coordinate)) // only show when set
{
// TODO: convert from CEF Pixel space to WebView Pixel space
_pTab->Debug_DrawRectangle(coordinate, glm::vec2(5, 5), glm::vec3(0, 1, 0));
}
// Testing visualization
glm::vec2 testCoordinate(0.3f, 0.5f);
applyZooming(testCoordinate);
_pTab->Debug_DrawRectangle(testCoordinate, glm::vec2(5, 5), glm::vec3(0, 0, 1));
#endif // CLIENT_DEBUG
}
