protected override void OnRender()
{
var ratio = _joint4.GetRatio();
var value = _joint1.GetJointAngle() + ratio * _joint2.GetJointAngle();
DrawString($"theta1 + {ratio:F2} * theta2 ={value:F2}");
ratio = _joint5.GetRatio();
value = _joint2.GetJointAngle() + ratio * _joint3.GetJointTranslation();
DrawString($"theta2 + {ratio:F2} * delta = {value:F2}");
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
double ratio = 0.0;
double value = 0.0;
ratio = _joint4.GetRatio();
value = _joint1.GetJointAngle() + ratio * _joint2.GetJointAngle();
_debugDraw.DrawString(50, _textLine, "theta1 + {0:n} * theta2 = {1:n}", (double)ratio, (double)value);
_textLine += 15;
ratio = _joint5.GetRatio();
value = _joint2.GetJointAngle() + ratio * _joint3.GetJointTranslation();
_debugDraw.DrawString(50, _textLine, "theta2 + {0:n} * delta = {1:n}", (double)ratio, (double)value);
_textLine += 15;
}