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cellulo-lovr/class/SmoothCellulo.lua
fbe15d5301a9celluloVR

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SmoothCellulo.lua
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local assertArgs = include "assertArgs"
local util = include "util"
local SmoothCellulo = lib "class" ("SmoothCellulo")
SmoothCellulo:include(mixin "Angle")
SmoothCellulo:include(mixin "Position")
SmoothCellulo:include(mixin "_has" ("Cellulo"))
local KIDNAPPED_STABILIZE_DELAY = 0.3
function SmoothCellulo:initialize(args)
assertArgs(args, "cellulo")
self:setCellulo(args.cellulo)
self:setPosition(args.cellulo:getX(), args.cellulo:getY(), 0)
self:setAngle(args.cellulo:getTheta(), 0, 1, 0)
args.cellulo:clearTracking()
self:updateTargetPose()
self.kidnapped = true
self.kidnappedTimer = KIDNAPPED_STABILIZE_DELAY
return self
end
function SmoothCellulo:updateTargetPose()
local x, y, theta = self:getCellulo():getX(), self:getCellulo():getY(), self:getCellulo():getTheta()
if not (x and y and theta) then return end -- ensure no value is nil
self.targetX, self.targetY, self.targetAngle = x, y, math.rad(theta)
end
function SmoothCellulo:update(dt)
self:updateTargetPose()
if self:getCellulo():getKidnapped() == 1 then
self.kidnapped = true
self.kidnappedTimer = KIDNAPPED_STABILIZE_DELAY
end
if self.kidnappedTimer then
self.kidnappedTimer = self.kidnappedTimer - dt
if self.kidnappedTimer <= 0 then
self.kidnappedTimer = nil
self.kidnapped = false
-- released safely with stabilization, reset position to avoid jumping
self.x, self.y, self.angle = self.targetX, self.targetY, self.targetAngle
end
end
if not self.kidnapped then
local LERP_POSITION = 5
local LERP_ANGLE = 5
self.x, self.y = util.lerp(self.x, self.targetX, LERP_POSITION * dt), util.lerp(self.y, self.targetY, LERP_POSITION * dt)
self.angle = util.lerpAngle(self.angle, self.targetAngle, LERP_ANGLE * dt)
end
end
function SmoothCellulo:getX() return self.x end
function SmoothCellulo:getY() return self.y end
function SmoothCellulo:getTheta() return self.angle end
function SmoothCellulo:getConnectionStatus() return self:getCellulo():getConnectionStatus() end
function SmoothCellulo:setHapticBackdriveAssist(...) return self:getCellulo():setHapticBackdriveAssist(...) end
function SmoothCellulo:setGoalVelocity(...) return self:getCellulo():setGoalVelocity(...) end
function SmoothCellulo:setGoalPose(...) return self:getCellulo():setGoalPose(...) end
function SmoothCellulo:setGoalPosition(...) return self:getCellulo():setGoalPosition(...) end
function SmoothCellulo:getKidnapped() return self.kidnapped end
return SmoothCellulo
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