/// <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}");
}
