/// <inheritdoc /> protected override void OnRender() { var force = _joint.GetMotorForce(TestSettings.Hertz); DrawString($"Motor Force = {force}"); ImGui.SetNextWindowPos(new Vector2(10.0f, 100.0f)); ImGui.SetNextWindowSize(new Vector2(200.0f, 100.0f)); ImGui.Begin("Joint Controls", ImGuiWindowFlags.NoMove | ImGuiWindowFlags.NoResize); if (ImGui.Checkbox("Limit", ref _enableLimit)) { _joint.EnableLimit(_enableLimit); } if (ImGui.Checkbox("Motor", ref _enableMotor)) { _joint.EnableMotor(_enableMotor); } if (ImGui.SliderFloat("Speed", ref _motorSpeed, -100.0f, 100.0f, "%.0f")) { _joint.SetMotorSpeed(_motorSpeed); } ImGui.End(); }
//void UpdateUI() //{ // ImGui::SetNextWindowPos(ImVec2(10.0f, 100.0f)); // ImGui::SetNextWindowSize(ImVec2(200.0f, 100.0f)); // ImGui::Begin("Joint Controls", nullptr, ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoResize); // if (ImGui::Checkbox("Limit", _enableLimit)) // { // _joint.EnableLimit(_enableLimit); // } // if (ImGui::Checkbox("Motor", _enableMotor)) // { // _joint.EnableMotor(_enableMotor); // } // if (ImGui::SliderFloat("Speed", _motorSpeed, -100.0f, 100.0f, "%.0f")) // { // _joint.SetMotorSpeed(_motorSpeed); // } // ImGui::End(); //} public override void Update(GameSettings settings, GameTime gameTime) { base.Update(settings, gameTime); float force = _joint.GetMotorForce(settings.Hz); DrawString("Motor Force = " + force); }
public override void Step(Framework.Settings settings) { base.Step(settings); _debugDraw.DrawString(50, _textLine, "Keys: (l) limits, (m) motors, (p) speed"); _textLine += 15; double force = _joint.GetMotorForce(); _debugDraw.DrawString(50, _textLine, "Motor Force = {0:n}", (double)force); _textLine += 15; }
/// <inheritdoc /> public override void OnRender() { DrawString("Keys: (l) limits, (m) motors, (s) speed"); var force = _joint.GetMotorForce(1 / TestSettings.Dt); DrawString($"Motor Force = {force}"); if (Input.GetKeyDown(KeyCode.L)) { _joint.EnableLimit(!_joint.IsLimitEnabled()); } if (Input.GetKeyDown(KeyCode.L)) { _joint.EnableMotor(!_joint.IsMotorEnabled()); } if (Input.GetKeyDown(KeyCode.L)) { _joint.SetMotorSpeed(-_joint.GetMotorSpeed()); } }
/// <inheritdoc /> protected override void PreStep() { DrawString("Keys: (l) limits, (m) motors, (s) speed"); var force = _joint.GetMotorForce(TestSettings.Frequency); DrawString($"Motor Force = {force}"); if (Input.GetKeyDown(KeyCode.L)) { _joint.EnableLimit(!_joint.IsLimitEnabled()); } if (Input.GetKeyDown(KeyCode.L)) { _joint.EnableMotor(!_joint.IsMotorEnabled()); } if (Input.GetKeyDown(KeyCode.L)) { _joint.SetMotorSpeed(-_joint.GetMotorSpeed()); } }
/// <inheritdoc /> protected override void OnRender() { var force = Joint.GetMotorForce(TestSettings.Hertz); DrawString($"Motor Force = {force}"); }