camera_joystick.lua

function widget:GetInfo()
  return {
    name      = "Camera Joystick",
    desc      = "Control Rotateable overhead (CTRL+F4) camera with a joystick",
    author    = "Beherith",
    date      = "2021.04.06",
    license   = "all rights reserved",
    layer     = 1,     --  after the normal widgets
    enabled   = true  --  loaded by default?
  }
end
---------------------INFO------------------------
-- UNCOMMENT YOUR DEVICE, the button mapping may be incorrect, it was taken from : 
-- https://www.pygame.org/docs/ref/joystick.html
-- Use AntiMicro to configure commands for OBS, and to get button/axis numbers in 1-based Lua form: 
-- https://github.com/AntiMicro/antimicro/releases/tag/2.23
--   Y
-- X   B
--   A

-- A button pause
-- B button hide interface
-- X toggle los
-- Y debug, bound via antimicro to F9 (obs start recording button)

---------------------Xiaomi Wireless----------------------------------------
-- Each input is a table of {'axes'|'buttons'|'hats', index (lua 1-based), direction (1 | -1)}
local LeftXAxis = {'axes',1,1} -- move left-right
local LeftYAxis = {'axes',2,1} -- move forward-backward
local RightXAxis = {'axes',3,1} --turn left-right
local RightYAxis = {'axes',6,1} --turn up-down
local RightTrigger = {'axes',8,1} -- move up
local LeftTrigger = {'buttons',9, 1} --move down
local DpadUp = {'hats',1,1} -- increase speed
local DpadDown = {'hats',1,-1} -- decrease speed
local DpadRight = {'hats',2,1} -- increase smoothing
local DpadLeft = {'hats',2,-1} -- decrease smoothing
local Abutton = {'buttons',1,1} -- pause game
local Bbutton = {'buttons',2,1} -- hide interface
local Xbutton = {'buttons',4,1} -- toggle los 
local Ybutton = {'buttons',5,1} -- print joystick status
local LShoulderbutton = {'buttons',7,1} -- decrease game speed
local RShoulderbutton = {'buttons',8,1} -- increase game speed
local RStickButton = {'buttons',14,1} -- select unit nearest to center of screen? TODO
local LStickButton = {'buttons',15,1} -- delect all? TODO

--[[
---------------------X-Box 360 Controller ----------------------------------------
-- Each input is a table of {'axes'|'buttons'|'hats', index (lua 1-based), direction (1 | -1)}
local LeftXAxis = {'axes',1,1} -- move left-right
local LeftYAxis = {'axes',2,1} -- move forward-backward
local RightXAxis = {'axes',4,1} --turn left-right
local RightYAxis = {'axes',5,1} --turn up-down
local RightTrigger = {'axes',6,1} -- move up
local LeftTrigger = {'axes',3, 1} --move down
local DpadUp = {'hats',1,1} -- increase speed
local DpadDown = {'hats',1,-1} -- decrease speed
local DpadRight = {'hats',2,1} -- increase smoothing
local DpadLeft = {'hats',2,-1} -- decrease smoothing
local Abutton = {'buttons',1,1} -- pause game
local Bbutton = {'buttons',2,1} -- hide interface
local Xbutton = {'buttons',3,1} -- toggle los 
local Ybutton = {'buttons',4,1} -- print joystick status
local LShoulderbutton = {'buttons',5,1} -- decrease game speed
local RShoulderbutton = {'buttons',6,1} -- increase game speed
local RStickButton = {'buttons',10,1} -- select unit nearest to center of screen? TODO
local LStickButton = {'buttons',9,1} -- delect all? TODO
]]--

--[[
---------------------Playstation 4 Controller ---------------------------------------
-- Each input is a table of {'axes'|'buttons'|'hats', index (lua 1-based), direction (1 | -1)}
local LeftXAxis = {'axes',1,1} -- move left-right
local LeftYAxis = {'axes',2,1} -- move forward-backward
local RightXAxis = {'axes',3,1} --turn left-right
local RightYAxis = {'axes',4,1} --turn up-down
local RightTrigger = {'axes',6,1} -- move up
local LeftTrigger = {'axes',5, 1} --move down
local DpadUp = {'buttons',12,1} -- increase speed
local DpadDown = {'buttons',13,1} -- decrease speed
local DpadRight = {'buttons',15,1} -- increase smoothing
local DpadLeft = {'buttons',14,1} -- decrease smoothing
local Abutton = {'buttons',1,1} -- cross button, pause game
local Bbutton = {'buttons',2,1} -- circle button, hide interface
local Xbutton = {'buttons',3,1} -- square button, toggle los 
local Ybutton = {'buttons',4,1} -- triangle button, print joystick status
local LShoulderbutton = {'buttons',10,1} -- decrease game speed
local RShoulderbutton = {'buttons',11,1} -- increase game speed
local RStickButton = {'buttons',9,1} -- select unit nearest to center of screen? TODO
local LStickButton = {'buttons',8,1} -- delect all? TODO
]]--

------------- BIND COMMANDS TO BUTTONS DEBOUNCED! -------------------------------
local buttonCommands = { -- key is button number, value is command like you would type into console without the beginning /
  [Abutton[2]] = function() Spring.SendCommands("pause") end,
  [Bbutton[2]] = function() Spring.SendCommands("hideinterface") end, 
  [Xbutton[2]] = function() Spring.SendCommands("togglelos") end, 
  [LShoulderbutton[2]] = function() Spring.SendCommands("slowdown") end,
  [RShoulderbutton[2]] = function() Spring.SendCommands("speedup") end,
}

--------------------------------------------------------------------------------
local spGetCameraState   = Spring.GetCameraState
local spGetCameraVectors = Spring.GetCameraVectors
local spSetCameraState   = Spring.SetCameraState

--------------------------------------------------------------------------------
local host = "127.0.0.1"
local port = "51234"
local client
local set
local isConnected = false
local movemult = 10.0 -- move speed multiplier
local rotmult = 1.0  -- rotation speed multiplier
local movechangefactor = 1.01
local smoothchangefactor = 0.01
local joystate = {}
local smoothing = 0.9  --amount of smoothing
local analogexponent = 1.8 -- amount of analog stick exponentiation
local debugMode = false
--------------------------------------------------------------------------------

local function dumpConfig()
  -- dump all luasocket related config settings to console
  for _, conf in ipairs({"TCPAllowConnect", "TCPAllowListen", "UDPAllowConnect", "UDPAllowListen"  }) do
    Spring.Echo(conf .. " = " .. Spring.GetConfigString(conf, ""))
  end
end

local function newset()
  local reverse = {}
  local set = {}
  return setmetatable(set, {__index = {
        insert = function(set, value)
          if not reverse[value] then
            table.insert(set, value)
            reverse[value] = table.getn(set)
          end
        end,
        remove = function(set, value)
          local index = reverse[value]
          if index then
            reverse[value] = nil
            local top = table.remove(set)
            if top ~= value then
              reverse[top] = index
              set[index] = top
            end
          end
        end
      }})
end

local function SocketConnect(host, port)
  client=socket.tcp()
  client:settimeout(0)
  res, err = client:connect(host, port)
  if not res and not res=="timeout" then
    Spring.Echo("Error in connect: "..err)
    return false
  end
  set = newset()
  set:insert(client)
  return true
end

function widget:Initialize()
  if debugMode then dumpConfig() end
  SocketConnect(host, port)
end

local function joystatetostr(js)
	local jstr = "buttons = ["
	for i,n in ipairs(js.buttons) do
		jstr = jstr .. " " .. tostring(n)
	end
	jstr = jstr .. '] hats = ['
	for i, n in ipairs(js.hats) do
		jstr = jstr .. " "..tostring(n)
	end
	jstr = jstr .. '] axes = ['
	for i, n in ipairs(js.axes) do
		jstr = jstr .. string.format(" %.2f",n)
	end
	return jstr .. ']'
end

local function SocketDataReceived(sock, str)
  --Spring.Echo(str)
  local newjoystate = Spring.Utilities.json.decode(str)
  if joystate.axes == nil then
    joystate = newjoystate
	-- validate all defined controls:
	for i, but in ipairs({ LeftXAxis, LeftYAxis, RightXAxis, RightYAxis, RightTrigger, LeftTrigger, DpadUp, DpadDown, DpadRight, DpadLeft, Abutton, Bbutton, Xbutton,Ybutton, LShoulderbutton ,RShoulderbutton, RStickButton , LStickButton }) do 
		if but and joystate[but[1]][but[2]] == nil then 
			Spring.Echo(joystatetostr(joystate))
			Spring.Echo("Warning: control missing:",but[1],but[2]) 
		end
	end
	
  else
    for i,a in ipairs(newjoystate.axes) do
      joystate.axes[i] = smoothing*joystate.axes[i] + (1-smoothing) * a
    end
	if joystate.hats then
		joystate.hats = newjoystate.hats
	else 
		joystate.hats = {} 
	end
    for btnindex, cmd in pairs(buttonCommands) do
      if joystate.buttons[btnindex] then
        if joystate.buttons[btnindex] == 0 and newjoystate.buttons[btnindex] == 1 then
          Spring.Echo("Button",btnindex,"pressed, sending command")
          cmd()
        end
      end
    end
    joystate.buttons = newjoystate.buttons
  end
end

local function SocketClosed(sock)
  Spring.Echo("closed connection")
end

local function rotateVector(vector,axis,phi)
  local rcos = math.cos(math.pi*phi/180);
  local rsin = math.sin(math.pi*phi/180);
  local u,v,w = axis[1],axis[2],axis[3];
  local matrix = {};
  matrix[0],matrix[1],matrix[2] = {},{},{};

  matrix[0][0] =      rcos + u*u*(1-rcos);
  matrix[1][0] =  w * rsin + v*u*(1-rcos);
  matrix[2][0] = -v * rsin + w*u*(1-rcos);
  matrix[0][1] = -w * rsin + u*v*(1-rcos);
  matrix[1][1] =      rcos + v*v*(1-rcos);
  matrix[2][1] =  u * rsin + w*v*(1-rcos);
  matrix[0][2] =  v * rsin + u*w*(1-rcos);
  matrix[1][2] = -u * rsin + v*w*(1-rcos);
  matrix[2][2] =      rcos + w*w*(1-rcos);

  local x,y,z = vector[1],vector[2],vector[3];

  return x * matrix[0][0] + y * matrix[0][1] + z * matrix[0][2],
  x * matrix[1][0] + y * matrix[1][1] + z * matrix[1][2],
  x * matrix[2][0] + y * matrix[2][1] + z * matrix[2][2];
end

local function norm2d(x,y)
  local l = math.sqrt(x*x+y*y)
  return x/l, y/l
end

local function axesexponent(axin)
  if axin >= 0 then
    return math.pow(axin, analogexponent)
  else
    return -1* math.pow(-1*axin, analogexponent)
  end
end


function widget:Update(dt) -- dt in seconds
  if set==nil or #set<=0 then
    return
  end
  -- get sockets ready for read
  local readable, writeable, err = socket.select(set, set, 0)
  if err~=nil then
    -- some error happened in select
    if err=="timeout" then
      -- nothing to do, return
      return
    end
    Spring.Echo("Error in select: " .. error)
  end
  for _, input in ipairs(readable) do
    local s, status, partial = input:receive('*a') --try to read all data
    if status == "timeout" or status == nil then
      SocketDataReceived(input, s or partial)
    elseif status == "closed" then
      SocketClosed(input)
      input:close()
      set:remove(input)
    end
  end


  local cs = spGetCameraState()

  if cs.name == "rot" and joystate.axes then
    --Spring.Utilities.TableEcho(cs)
    if joystate[Ybutton[1]][Ybutton[2]] and joystate[Ybutton[1]][Ybutton[2]] == 1 then -- A button dumps debug
      Spring.Echo(joystatetostr(joystate))
    end

    if joystate[DpadUp[1]][DpadUp[2]] and joystate[DpadUp[1]][DpadUp[2]] == DpadUp[3] then 
      movemult = movemult * movechangefactor
      rotmult = rotmult * movechangefactor
      Spring.Echo("Speed increased to ",movemult)
    end

    if joystate[DpadDown[1]][DpadDown[2]] and joystate[DpadDown[1]][DpadDown[2]] == DpadDown[3] then 
      movemult = movemult / movechangefactor
      rotmult = rotmult / movechangefactor
      Spring.Echo("Speed decreased to ",movemult)
    end

    if joystate[DpadRight[1]][DpadRight[2]] and joystate[DpadRight[1]][DpadRight[2]] == DpadRight[3] then 
      smoothing = smoothchangefactor * 1.0 + (1.0 - smoothchangefactor ) * smoothing
      Spring.Echo("Smoothing increased to ",smoothing)
    end

    if joystate[DpadLeft[1]][DpadLeft[2]] and joystate[DpadLeft[1]][DpadLeft[2]] == DpadLeft[3] then 
      smoothing = (1.0 - smoothchangefactor ) * smoothing
      Spring.Echo("Smoothing decreased to ",smoothing)
    end

    local frameSpeed = 1.0 -- this tries to work around fps dips
    if (dt>0)  and (dt < 1.0/75 or dt > 1.0/45) then -- correct for <45 fps and >75fps as there is some jitter in frames
      frameSpeed = 60* dt
      if debugMode then Spring.Echo("speed correction",dt,frameSpeed) end
    end
    local ndx, ndz = norm2d(cs.dx, cs.dz)

    if debugMode and Spring.GetGameFrame() %60 ==0 then
      Spring.Echo(ndx, ndz, cs.dx, cs.dy, cs.dz)
    end

    -- Move left-right
	if joystate[LeftXAxis[1]][LeftXAxis[2]] then
		local lrmove = axesexponent(joystate[LeftXAxis[1]][LeftXAxis[2]])
		cs.px = cs.px + -1*(ndz * lrmove) * movemult * frameSpeed -- good
		cs.pz = cs.pz + (ndx * lrmove) * movemult * frameSpeed
	end

    -- Move forward-backward
	if joystate[LeftYAxis[1]][LeftYAxis[2]] then
		local fbmove = axesexponent(joystate[LeftYAxis[1]][LeftYAxis[2]])
		cs.px = cs.px + -1*(ndx * fbmove) * movemult * frameSpeed
		cs.pz = cs.pz + -1*(ndz * fbmove) * movemult * frameSpeed
	end
	
    -- Turn left-right
	if joystate[RightXAxis[1]][RightXAxis[2]] then
		local lrturn = axesexponent(joystate[RightXAxis[1]][RightXAxis[2]])
		local rotYx, rotYy, rotYz = rotateVector({cs.dx, cs.dy, cs.dz}, {0,1,0} , -1.0*  lrturn * rotmult * frameSpeed)
		cs.dx = rotYx
		cs.dy = rotYy
		cs.dz = rotYz
	end
    -- Turn up-down
	if joystate[RightYAxis[1]][RightYAxis[2]] then
		local turnupdown = axesexponent(joystate[RightYAxis[1]][RightYAxis[2]])
		if not((cs.dy < -0.98 and turnupdown >= 0) or (cs.dy > 0.98 and turnupdown <= 0) )  then -- gimbal lock prevention
		  local rotUpx, rotUpy, rotUpz = rotateVector({cs.dx, cs.dy, cs.dz}, {ndz,0,-ndx} , turnupdown * rotmult * frameSpeed)
		  cs.dx = rotUpx
		  cs.dy = rotUpy
		  cs.dz = rotUpz 
		end
	end

    -- Move up-down
	if joystate[RightTrigger[1]][RightTrigger[2]] and joystate[LeftTrigger[1]][LeftTrigger[2]] then
		cs.py = cs.py - (1.0 + joystate[RightTrigger[1]][RightTrigger[2]]) * movemult/2 * frameSpeed
		if LeftTrigger[1] == 'axes' then
		  cs.py = cs.py + (1.0 + joystate[LeftTrigger[1]][LeftTrigger[2]]) * movemult/2 * frameSpeed
		else --probably a button
		  cs.py = cs.py + joystate[LeftTrigger[1]][LeftTrigger[2]] * movemult * frameSpeed
		  if joystate[LeftTrigger[1]][LeftTrigger[2]] == LeftTrigger[3] then
			joystate[RightTrigger[1]][RightTrigger[2]] = -1
		  end
		end
	end

    spSetCameraState(cs)
  end

end

--------------------------------------------------------------------------------

--[[
  Switching to Rotatable overhead camera
name : "rot"
[t=00:13:23.057932][f=0022976] TableEcho = {
[t=00:13:23.057932][f=0022976]     px = 839.141724
[t=00:13:23.057932][f=0022976]     py = 1498.34656
[t=00:13:23.057932][f=0022976]     pz = 4248.28955
[t=00:13:23.057932][f=0022976]     dx = 0.10883047
[t=00:13:23.057932][f=0022976]     dy = -0.9101192
[t=00:13:23.057932][f=0022976]     name = rot
[t=00:13:23.057932][f=0022976]     fov = 45
[t=00:13:23.057932][f=0022976]     mode = 3
[t=00:13:23.057932][f=0022976]     dz = -0.3997985
[t=00:13:23.057932][f=0022976]     oldHeight = 1155.58826
[t=00:13:23.057932][f=0022976] },
  ]]--