CelluloControlledBoid.lua
7bc7bcd85032master

CelluloControlledBoid.lua
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			local assertArgs = include "assertArgs"

			local util = include "util"
			local global = require "global"

			local Boid = class "boids.Boid"
			local CelluloControlledBoid = lib "class" ("CelluloControlledBoid", Boid)

			local mixinHasCellulo = mixin "_has" ("Cellulo")
			CelluloControlledBoid:include(mixinHasCellulo)
			CelluloControlledBoid:include(mixin "_has" ("ControlMethod"))
			CelluloControlledBoid:include(mixin "_has" ("CelluloPlane"))

			local CELLULO_ABSOLUTE_SPEED = 0.04
			local CELLULO_RELATIVE_SPEED = 5
			local CELLULO_RELATIVE_ROTATION_SPEED = 2

			local CELLULO_MAX_HAPTIC_FORCE = 20
			local CELLULO_HAPTIC_FACTOR = 10

			function CelluloControlledBoid:initialize(args)
			assertArgs(args, "cellulo", "controlMethod", "celluloPlane")
			Boid.initialize(self, args)
			self:setCellulo(args.cellulo)
			self:setControlMethod(args.controlMethod)
			self:setCelluloPlane(args.celluloPlane)

			self.ox, self.oy, self.oz = nil, nil, nil
			return self
			end

			function CelluloControlledBoid:setCellulo(cellulo)
			self.cellulo = cellulo
			if cellulo ~= -1 then
			cellulo:setHapticBackdriveAssist(0.8, 0.8, 0.8)
			cellulo:setGoalVelocity(0, 0, 0)
			end
			end

			function CelluloControlledBoid:update(dt)
			-- implement boid behaviour
			local controlMethod = self:getControlMethod()

			self:applyHapticFeedback(dt)

			if controlMethod == "absolute" then
			-- move continuously
			local kidnapped = self:getCellulo():getKidnapped()
			if kidnapped then
			self.ox, self.oy, self.oa = nil, nil, nil
			end

			if not kidnapped then
			if self.ox and self.oy and self.oa then

			local da = self:getCellulo():getTheta() - self.oa
			da = math.atan2(math.sin(da), math.cos(da))
			local angle = self:getAngle()
			angle = angle - da -- no need for dt?
			self:setAngle(angle)

			local dx, dy = self:getCellulo():getX() - self.ox, self:getCellulo():getY() - self.oy
			local x, y, z = self:getCollider():getPosition()
			dx, dy = util.rotateVector(dx, dy, -global.camera:getAngle())
			x, z = x + dx * CELLULO_ABSOLUTE_SPEED, z + dy * CELLULO_ABSOLUTE_SPEED
			self:setPosition(x, y, z)
			self:getCollider():setPosition(x, y, z)
			end

			-- set origin
			self.ox, self.oy, self.oa = self:getCellulo():getX(), self:getCellulo():getY(), self:getCellulo():getTheta()
			end
			elseif controlMethod == "relative" then
			-- move like the cellulo was a joystick thumb, origin of the paper acting as neutral
			if not kidnapped then
			local x, y, z = self:getCollider():getPosition()
			local dx, dy = self:getCelluloPlane():normalizedRelative(self:getCellulo():getX(), self:getCellulo():getY())
			dx, dy = util.rotateVector(dx, dy, -global.camera:getAngle())
			x, z = x + dx * CELLULO_RELATIVE_SPEED * dt, z + dy * CELLULO_RELATIVE_SPEED * dt
			local angle = self:getAngle()
			local da = self:getCellulo():getAngle()
			if da > math.pi then da = -2*math.pi + da end
			angle = angle + (-da) * CELLULO_RELATIVE_ROTATION_SPEED * dt
			self:setPosition(x, y, z)
			self:getCollider():setPosition(x, y, z)
			self:setAngle(angle)
			end
			end
			end

			function CelluloControlledBoid:draw()
			return -- don't draw anything
			end

			function CelluloControlledBoid:applyHapticFeedback(dt)

			local dir = lovr.math.vec3(0, 0, 0)
			local n = self:getSwarm():forAllNeighbours(self, function (boid)
			dir = dir:add(lovr.math.vec3(boid:getCollider():getPosition()))
			end)
			dir:div(n) -- center of mass
			dir:sub(lovr.math.vec3(self:getCollider():getPosition()))

			local controlMethod = self:getControlMethod()
			if controlMethod == "absolute" then
			dir:mul(CELLULO_HAPTIC_FACTOR)
			if dir:length() > CELLULO_MAX_HAPTIC_FORCE then
			dir:normalize()
			dir:mul(CELLULO_MAX_HAPTIC_FORCE)
			end
			local dx, dy, dz = dir:unpack()
			dx, dz = util.rotateVector(dx, dz, global.camera:getAngle())
			self:getCellulo():setGoalVelocity(dx, dz, 0)
			elseif controlMethod == "relative" then
			if dir:length() > 1 then
			dir:mul(CELLULO_HAPTIC_FACTOR)
			if dir:length() > CELLULO_MAX_HAPTIC_FORCE then
			dir:normalize()
			dir:mul(CELLULO_MAX_HAPTIC_FORCE)
			end
			dir:div(CELLULO_MAX_HAPTIC_FORCE)
			local dx, dy, dz = dir:unpack()
			dx, dz = util.rotateVector(dx, dz, global.camera:getAngle())
			dx, dz = dx / 2, dz / 2
			dx, dz = self:getCelluloPlane():normalizedRelativeToAbsolute(dx, dz)
			self:getCellulo():setGoalPose(dx, dz, 0, 100, 10)
			end
			end

			end

			return CelluloControlledBoid

cellulo-lovr/class/boids/CelluloControlledBoid.lua7bc7bcd85032master

CelluloControlledBoid.luaView Options

cellulo-lovr/class/boids/CelluloControlledBoid.lua
7bc7bcd85032master

CelluloControlledBoid.lua
View Options