World::World(float dt, QObject *parent)
: QObject(parent), world(NULL), timer(NULL), time(0), dt(dt)
{
timer = new QTimer(this);
timer->setInterval(1000.*dt);
timer->setSingleShot(false);
connect(timer,SIGNAL(timeout()),this,SLOT(stepWorld()));
}
stateStruct Mechanism::simulate(std::vector<double>& action){
// set the necessary parameters from the startState
setGoalWithAction(action); // Same for each mechanism: defined in this file
// run iterations of the simulation to generate a new state
// make sure dynamic world exists - allows fixed case - kind of a hack
if (dynamicsWorld_){
for(size_t i = 0; i<1000;i++){
stepWorld();
}
}
// return the state of the world after the iterations
std::cout << "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!" << std::endl;
return returnStateOfWorld(); // Virtual function: not defined in this file
}
std::vector<double> BasicDemo::runSimulation(std::vector<double> prevState, std::vector<double> action){
startPose_.setValue(prevState[0],1.0,prevState[1]);
initPhysics();
desiredPose_.setValue(action[0],1.0,action[1]);
for(size_t i = 0; i<1000;i++){
stepWorld();
}
std::vector<double> nextState;
nextState.push_back(bravoBodyTrans_.getOrigin().getX());
nextState.push_back(bravoBodyTrans_.getOrigin().getZ());
return nextState;
}
/* Advance the simulation by one time step. Render and/or dump statistics
* if neccesary. Return false if the user wants to quit. */
static bool stepSimulation(Timer *renderTimer) {
static int stepsSinceVerbose = 0;
stepWorld();
if (config.verbose > 0) {
stepsSinceVerbose++;
if (stepsSinceVerbose > config.verbose) {
stepsSinceVerbose = 0;
dumpStats();
}
}
if (config.render && tickTimer(renderTimer))
return stepGraphics();
return true;
}
