Add frame clock

2021-09-09 13:29:09 +01:00
parent a2288110ae
commit be7b2d2cd7
27 changed files with 176 additions and 87 deletions
@@ -62,10 +62,10 @@ followImpulse cr w imp = case imp of
    AddGoal gl -> (id, cr & crActionPlan . crGoal %~ (gl :) )
    ArbitraryImpulseFunction f -> (id, f w cr)
    ArbitraryImpulse f -> followImpulse cr w (f cr w) 
-    ImpulseUseTargetCID f -> case cr ^? crTarget . _Just of
+    ImpulseUseTargetCID f -> case cr ^? crIntention . targetCr . _Just of
        Just tcr -> followImpulse cr w (f $ _crID tcr)
        _ -> (id,cr)
-    ImpulseUseTarget f -> case cr ^? crTarget . _Just of
+    ImpulseUseTarget f -> case cr ^? crIntention . targetCr . _Just of
        Just tcr -> followImpulse cr w (f tcr)
        _ -> (id,cr)
    ImpulseUseAheadPos f -> followImpulse cr w (f (_crPos cr +.+ 20 *.* unitVectorAtAngle (_crDir cr)))