void goalPos(goal_t *goal) {
int x, y;
float dx, dy, da, dd, goal_a;
x = goal->data.pos_data.x;
y = goal->data.pos_data.y;
dx = x - current_pos.x;
dy = y - current_pos.y;
goal_a = atan2(dy, dx);
da = (goal_a - current_pos.angle);
da = moduloTwoPI(da);
dd = sqrt(pow(dx, 2.0)+pow(dy, 2.0));
if (goal->data.pos_data.d == ANY) {
if (abs(da) > CONE_ALIGNEMENT) {
da = moduloPI(da);
dd = - dd;
}
} else if (goal->data.pos_data.d == BACKWARD) {
dd = - dd;
da = moduloTwoPI(da+M_PI);
}
if (controlPos(dd, da) & POS_REACHED) {
goal->is_reached = 1;
}
applyPID();
}
void goalAngle(goal_t *goal) {
float angle, da;
angle = goal->data.ang_data.angle;
da = angle - current_pos.angle;
if (goal->data.ang_data.modulo) {
da = moduloTwoPI(da);
}
if (controlPos(0, da) & ANG_REACHED) {
goal->is_reached = 1;
}
applyPID();
}
//--------------------------------------------------------------
void LayoutManager::positionControl(Control &control, ofVec2f &parentScale, int panelDepth) {
// calculate scale
ofVec2f curScale = parentScale * control.scale;
int indent = panelDepth * control.getConfig()->layout.indent;
// update dimensions
control.width = control.layout.width * curScale.x;// ? control.layout.width : control.getConfig()->layout.columnWidth - indent) * curScale.x;
control.height = control.layout.height * curScale.y;// ? control.layout.height : control.getConfig()->layout.buttonHeight) * curScale.y;
// TODO: think about scales
switch(control.layout.positionMode) {
case LayoutSettings::kRelative: // normal (controls are placed in a free flowing manner, like html, layout.position is offset off calculated)
{
ofVec2f newHead(_curHead);
ofVec2f controlOffset((control.layout.position + control.layout.paddingPre) * curScale);
ofVec2f controlPos(newHead + controlOffset);
float postHeight = (control.height + control.layout.paddingPost.y + control.getConfig()->layout.padding.y) * curScale.y;
// if(control.layout.newColumn || (doWrap && controlPos.y + postHeight > maxPos.y)) {
// newHead.x = control.getParent()->getRight() + control.layout.paddingPost.x + control.getConfig()->layout.padding.x;
// newHead.y = boundRect.y;
// controlPos = newHead + controlOffset;
// }
control.setPosition(controlPos);
control.x += indent * curScale.x;
if(control.layout.doAffectFlow) {
_curHead = newHead;
if(control.height != 0) _curHead.y += postHeight; // dont do padding if height is 0
}
}
break;
case LayoutSettings::kAbsolute: // layout.position is relative to container
control.setPosition(control.getParent() ? (control.getParent()->position + control.layout.position) : control.layout.position);
break;
case LayoutSettings::kFixed: // layout.position is relative to screen
control.setPosition(control.layout.position);
break;
}
}