protected override void OnStep()
{
var p = TestSettings.Camera.transform.position;
p.x = _car.GetPosition().X;
TestSettings.Camera.transform.position = p;
if (Input.GetKeyDown(KeyCode.A))
{
_spring1.SetMotorSpeed(_speed);
}
if (Input.GetKeyDown(KeyCode.S))
{
_spring1.SetMotorSpeed(0.0f);
}
if (Input.GetKeyDown(KeyCode.D))
{
_spring1.SetMotorSpeed(-_speed);
}
if (Input.GetKeyDown(KeyCode.Q))
{
_hz = Math.Max(0.0f, _hz - 1.0f);
_spring1.SetSpringFrequencyHz(_hz);
_spring2.SetSpringFrequencyHz(_hz);
}
if (Input.GetKeyDown(KeyCode.E))
{
_hz += 1.0f;
_spring1.SetSpringFrequencyHz(_hz);
_spring2.SetSpringFrequencyHz(_hz);
}
}
/// <inheritdoc />
protected override void OnRender()
{
var torque = _joint.GetMotorTorque(TestSettings.Hertz);
DrawString($"Motor Torque = {torque}");
ImGui.SetNextWindowPos(new Vector2(10.0f, 100.0f));
ImGui.SetNextWindowSize(new Vector2(200.0f, 100.0f));
ImGui.Begin("Joint Controls", ImGuiWindowFlags.NoMove | ImGuiWindowFlags.NoResize);
if (ImGui.Checkbox("Limit", ref _enableLimit))
{
_joint.EnableLimit(_enableLimit);
}
if (ImGui.Checkbox("Motor", ref _enableMotor))
{
_joint.EnableMotor(_enableMotor);
}
if (ImGui.SliderFloat("Speed", ref _motorSpeed, -100.0f, 100.0f, "%.0f"))
{
_joint.SetMotorSpeed(_motorSpeed);
}
ImGui.End();
}
/// <inheritdoc />
public override void OnKeyDown(KeyboardKeyEventArgs key)
{
switch (key.Key)
{
case Key.A:
_spring1.SetMotorSpeed(_speed);
break;
case Key.S:
_spring1.SetMotorSpeed(0.0f);
break;
case Key.D:
_spring1.SetMotorSpeed(-_speed);
break;
}
}
/// <inheritdoc />
public override void OnKeyDown(KeyInputEventArgs keyInput)
{
switch (keyInput.Key)
{
case KeyCodes.A:
_spring1.SetMotorSpeed(_speed);
break;
case KeyCodes.S:
_spring1.SetMotorSpeed(0.0f);
break;
case KeyCodes.D:
_spring1.SetMotorSpeed(-_speed);
break;
}
}
protected override void OnStep()
{
var p = TestSettings.Camera.transform.position;
p.x = _car.GetPosition().X;
TestSettings.Camera.transform.position = p;
if (Input.GetKeyDown(KeyCode.A))
{
_spring1.SetMotorSpeed(_speed);
}
if (Input.GetKeyDown(KeyCode.S))
{
_spring1.SetMotorSpeed(0.0f);
}
if (Input.GetKeyDown(KeyCode.D))
{
_spring1.SetMotorSpeed(-_speed);
}
}
/// <inheritdoc />
protected override void PreUpdate()
{
DrawString("Keys: left = a, brake = s, right = d, hz down = q, hz up = e");
DrawString($"frequency = {_hz} hz, damping ratio = {_zeta}");
var p = MainCamera.transform.position;
p.x = _car.GetPosition().X;
MainCamera.transform.position = p;
if (Input.GetKeyDown(KeyCode.A))
{
_spring1.SetMotorSpeed(_speed);
}
if (Input.GetKeyDown(KeyCode.S))
{
_spring1.SetMotorSpeed(0.0f);
}
if (Input.GetKeyDown(KeyCode.D))
{
_spring1.SetMotorSpeed(-_speed);
}
if (Input.GetKeyDown(KeyCode.Q))
{
_hz = Math.Max(0.0f, _hz - 1.0f);
_spring1.SetSpringFrequencyHz(_hz);
_spring2.SetSpringFrequencyHz(_hz);
}
if (Input.GetKeyDown(KeyCode.E))
{
_hz += 1.0f;
_spring1.SetSpringFrequencyHz(_hz);
_spring2.SetSpringFrequencyHz(_hz);
}
}