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cellulo-lovr/class/boids/controls/RelativeControls.lua
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RelativeControls.lua
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--[[
* Relative control scheme
Cellulo acts like a joystick
]]--
local global = require "global"
local util = include "util"
local RelativeControls = (class "boids.controls.Controls"):subclass("RelativeControls")
local CELLULO_RELATIVE_SPEED = 5
local CELLULO_RELATIVE_ROTATION_SPEED = 2
local CELLULO_MAX_HAPTIC_FORCE = 20
local CELLULO_HAPTIC_FACTOR = 10
function RelativeControls.static:applyMovement(boid, dt)
local kidnapped = boid:getCellulo():getKidnapped()
-- move like the cellulo was a joystick thumb, origin of the paper acting as neutral
if not kidnapped then
local x, y, z = boid:getCollider():getPosition()
local dx, dy = boid:getCelluloPlane():normalizedRelative(boid:getCellulo():getX(), boid: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 = boid:getAngle()
local da = boid:getCellulo():getAngle()
if da > math.pi then da = -2*math.pi + da end
angle = angle + (-da) * CELLULO_RELATIVE_ROTATION_SPEED * dt
boid:setPosition(x, y, z)
boid:getCollider():setPosition(x, y, z)
boid:setAngle(angle)
end
end
function RelativeControls.static:applyHapticFeedback(boid, dt, dir)
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 = boid:getCelluloPlane():normalizedRelativeToAbsolute(dx, dz)
boid:getCellulo():setGoalPose(dx, dz, 0, 100, 10)
end
end
return RelativeControls
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