//
// GLfloat rangeSensor(p)
// Last modified: 08Nov2009
//
// Returns with the distance from this robot
// to the position being auctioned.
//
// Returns: the distance from this robot to the position being auctioned
// Parameters:
// p in/out the packet (auction) to be processed
GLfloat Robot::rangeSensor(Packet &p)
{
// unpack the auction from the packet
Push_Auction_Announcement *aa = (Push_Auction_Announcement *)p.msg;
// unpack the formation definition from the state within the auction
Formation f = aa->s_i.formation;
// get the range from the auctioneer to this robot
GLfloat range = env->distanceToRobot(env->getCell(p.fromID), this);
// if the auctioneer is beyond sensor range, do not bid
if (range > SENSOR_RANGE) return -1.0f;
// get the relative bearing from the auctioneer to this robot
GLfloat bearing = bearingSensor(p.fromID);
// get the angle between the auctioneer and the position being auctioned
GLfloat ang = atan2(f.getFunction()(f.getRadius()), f.getRadius()) -
bearing;
// get the vector between the auctioneer and this robot
Vector d = (*(Vector *)this) - (*(Vector *)env->getCell(p.fromID));
// get the vector between the auctioneer and the position being auctioned
Vector e;
e.y = f.getFunction()(f.getRadius());
e.x = sqrt((f.getRadius() * f.getRadius()) - (e.y * e.y));
// get the vector between the position being auctioned and this robot
Vector a;
if (aa->right) // if the position is to the right of the auctioneer
a = d - e;
else
a = d + e;
// range is the magnitude of the vector between
// the position being auctioned and this robot
range = a.magnitude();
//cout << "robot " << getID() << " bidding " << range << endl;
return range;
} // rangeSensor(Packet &)
//
// bool initCells(n, f)
// Last modified: 28Aug2006
//
// Initializes each cell to the parameterized values,
// returning true if successful, false otherwise.
//
// Returns: true if successful, false otherwise
// Parameters:
// n in the initial number of cells
// f in the initial formation
//
bool Environment::initCells(const GLint n, const Formation f)
{
srand(time(NULL));
for (GLint i = 0; i < n; ++i) if (!addCell()) return false;
// initialize each robot's neighborhood
if (!initNbrs()) return false;
// organizes the cells into an initial formation (default line)
Cell *c = NULL;
for (GLint i = 0; i < getNCells(); ++i)
{
if (!cells.getHead(c)) return false;
c->x = f.getRadius() *
((GLfloat)i - (GLfloat)(getNCells() - 1) / 2.0f);
c->y = 0.0f;
c->setColor(DEFAULT_ROBOT_COLOR);
c->setHeading(f.getHeading());
++cells;
}
return (getNCells() == n) &&
sendMsg(new Formation(f), f.getSeedID(),
ID_OPERATOR, CHANGE_FORMATION);
} // initCells(const GLint, const Formation f)
// simulation global constants
const GLfloat SELECT_RADIUS = 1.5f * DEFAULT_ROBOT_RADIUS;
const GLint N_CELLS = 0;
const GLint MIDDLE_CELL = 0;//(N_CELLS - 1) / 2;
const Formation DEFAULT_FORMATION = Formation(formations[0],
DEFAULT_ROBOT_RADIUS *
FACTOR_COLLISION_RADIUS,
Vector(), MIDDLE_CELL, 0,
90.0f);
// simulation global variables
Environment *g_env = NULL;
GLint g_nRobots = 0;
GLfloat g_fRadius = DEFAULT_FORMATION.getRadius();
GLint g_sID = DEFAULT_FORMATION.getSeedID();
GLint g_fID = DEFAULT_FORMATION.getFormationID();
GLfloat g_fHeading = DEFAULT_FORMATION.getHeading();
GLint g_fIndex = 0;
GLint g_selectedIndex = g_sID;
GLint g_dt = 50; // time interval (in milliseconds)
bool g_prop_toggle = false;
//
// GLint main(argc, argv)
// Last modified: 04Sep2006
//
// Uses the OpenGL Utility Toolkit to set the