Diff: rigidLoop.cpp

Revision:

21:bc9b9383f4b6

Parent:

20:8e82b95180e7

Child:

22:d87317d7ca91

--- a/rigidLoop.cpp	Sat Apr 28 15:08:27 2012 +0000
+++ b/rigidLoop.cpp	Sun May 06 14:40:19 2012 +0000
@@ -30,6 +30,9 @@
     sendingRecenteringAngle=true;
     sendingAnchorPosition=true;
     sendingOnlyWhenTouch=true;
+    
+    // Gravity field:
+    gravity.set(.5,0);
 
 // (3) Initialize secondary variables depending on the behaviour mode (may be changed afterwards in real time)
 
@@ -268,7 +271,7 @@
             // this is very simple: we need to give a force to the centralMass that is OPPOSITE to the recenteringVectorLoop vector
             centerMass.resetForce();
 
- if (displaySensingBuffer.lightTouched) {
+        if (displaySensingBuffer.lightTouched) {
             // add force; MANY POSSIBILITIES:
             // (1) Constant in norm:
             //centerMass.addForce(unitTowardsLight*saccadeRadius*factorBouncingForce);
@@ -280,6 +283,9 @@
              //centerMass.addForce(recenteringVectorLoop*normRecenteringVector*factorBouncingForce);
              
             }
+            
+            // Gravity?
+            centerMass.addForce(gravity*centerMass.mass);
 
             // update dynamics for the central mass::
 #ifndef VERLET_METHOD
@@ -300,8 +306,13 @@
     }
 
     // OTHER PARTICULAR THINGS:
-    if (displaySensingBuffer.lightTouched)  setColor(0x02); // green on
-    else  setColor(0x00); // green off
+    if (displaySensingBuffer.lightTouched)  {
+          // setGreenPower(1); // setColor(0x02); // green on
+           setColor(0x02|blobColor); // set green ON, regardless of the initial color
+    } else {
+          // setGreenPower(0); //setColor(0x00); // green off
+           setColor(blobColor); // set green OFF (IF it was off from the start)
+     }
     
     
     // change sliding direction (for countour following):