EnkiPlayground(World *world, QWidget *parent = 0) :
ViewerWidget(world, parent),
subjectiveView(false)
{
#define PROBLEM_GENERIC_TOY
#define PROBLEM_BALL_LINE
//#define PROBLEM_LONE_EPUCK
#ifdef PROBLEM_GENERIC_TOY
{
const double amount = 9;
const double radius = 5;
const double height = 20;
Polygone p;
for (double a = 0; a < 2*M_PI; a += 2*M_PI/amount)
p.push_back(Point(radius * cos(a), radius * sin(a)));
PhysicalObject* o = new PhysicalObject;
PhysicalObject::Hull hull(Enki::PhysicalObject::Part(p, height));
o->setCustomHull(hull, -1);
o->setColor(Color(0.4,0.6,0.8));
o->pos = Point(100, 100);
world->addObject(o);
}
for (int i = 0; i < 20; i++)
{
PhysicalObject* o = new PhysicalObject;
o->pos = Point(UniformRand(20, 100)(), UniformRand(20, 100)());
o->setCylindric(1, 1, 10);
o->setColor(Color(0.9, 0.2, 0.2));
o->dryFrictionCoefficient = 0.01;
world->addObject(o);
}
Polygone p2;
p2.push_back(Point(5,1));
p2.push_back(Point(-5,1));
p2.push_back(Point(-5,-1));
p2.push_back(Point(5,-1));
for (int i = 0; i < 5; i++)
{
PhysicalObject* o = new PhysicalObject;
PhysicalObject::Hull hull(Enki::PhysicalObject::Part(p2, 3));
o->setCustomHull(hull, 30);
o->setColor(Color(0.2, 0.1, 0.6));
o->collisionElasticity = 0.2;
o->pos = Point(UniformRand(20, 100)(), UniformRand(20, 100)());
world->addObject(o);
}
// cross shape
{
PhysicalObject* o = new PhysicalObject;
PhysicalObject::Hull hull;
hull.push_back(Enki::PhysicalObject::Part(Polygone() << Point(5,1) << Point(-5,1) << Point(-5,-1) << Point(5,-1), 2));
hull.push_back(Enki::PhysicalObject::Part(Polygone() << Point(1,5) << Point(-1,5) << Point(-1,-5) << Point(1,-5), 4));
o->setCustomHull(hull, 60);
o->setColor(Color(0.2, 0.4, 0.6));
o->collisionElasticity = 0.2;
o->pos = Point(UniformRand(20, 100)(), UniformRand(20, 100)());
world->addObject(o);
}
#endif // PROBLEM_GENERIC_TOY
#ifdef PROBLEM_BALL_LINE
for (double d = 40; d < 60; d += 8)
{
PhysicalObject* o = new PhysicalObject;
o->pos = Point(d, 20);
o->setCylindric(4, 2, 10);
o->setColor(Color(0.2, 0.2, 0.6));
o->dryFrictionCoefficient = 0.;
world->addObject(o);
}
#endif // PROBLEM_BALL_LINE
#ifdef PROBLEM_LONE_EPUCK
addDefaultsRobots(world);
#endif // PROBLEM_LONE_EPUCK
Marxbot *marxbot = new Marxbot;
marxbot->pos = Point(60, 50);
marxbot->leftSpeed = 8;
marxbot->rightSpeed = 2;
world->addObject(marxbot);
#ifdef USE_SDL
if((SDL_Init(SDL_INIT_JOYSTICK)==-1))
{
cerr << "Error : Could not initialize SDL: " << SDL_GetError() << endl;
addDefaultsRobots(world);
return;
}
int joystickCount = SDL_NumJoysticks();
for (int i = 0; i < joystickCount; ++i)
{
SDL_Joystick* joystick = SDL_JoystickOpen(i);
if (!joystick)
{
cerr << "Error: Can't open joystick " << i << endl;
continue;
}
if (SDL_JoystickNumAxes(joystick) < 2)
{
cerr << "Error: not enough axis on joystick" << i<< endl;
SDL_JoystickClose(joystick);
continue;
}
joysticks.push_back(joystick);
EPuck *epuck = new EPuck;
//epuck->pos = Point(UniformRand(20, 100)(), UniformRand(20, 100)());
epuck->pos = Point(20, 20);
epucks.push_back(epuck);
world->addObject(epuck);
}
cout << "Added " << joystickCount << " controlled e-pucks." << endl;
#else // USE_SDL
addDefaultsRobots(world);
#endif // USE_SDL
camera.altitude = 150;
camera.pos = QPointF(0,-60);
}
virtual void timerEvent(QTimerEvent * event)
{
static int fireCounter = 0;
#ifdef USE_SDL
SDL_JoystickUpdate();
doDumpFrames = false;
for (int i = 0; i < joysticks.size(); ++i)
{
EPuck* epuck = epucks[i];
if (world->hasGroundTexture())
cout << "Robot " << i << " is on ground of colour " << world->getGroundColor(epuck->pos) << endl;
#define SPEED_MAX 13.
//cout << "S " << epuck->infraredSensor2.getRayDist(0) << " " << epuck->infraredSensor2.getRayDist(1) << " " << epuck->infraredSensor2.getRayDist(2) << endl;
#if 0
epuck->leftSpeed = - SDL_JoystickGetAxis(joysticks[i], 1) / (32767. / SPEED_MAX);
epuck->rightSpeed = - SDL_JoystickGetAxis(joysticks[i], 4) / (32767. / SPEED_MAX);
#else
double x = SDL_JoystickGetAxis(joysticks[i], 0) / (32767. / SPEED_MAX);
double y = -SDL_JoystickGetAxis(joysticks[i], 1) / (32767. / SPEED_MAX);
epuck->leftSpeed = y + x;
epuck->rightSpeed = y - x;
#endif
if ((SDL_JoystickGetButton(joysticks[i], 6) || SDL_JoystickGetButton(joysticks[i], 7)) &&
(++fireCounter % 2) == 0)
{
PhysicalObject* o = new PhysicalObject;
Vector delta(cos(epuck->angle), sin(epuck->angle));
o->pos = epuck->pos + delta * 6;
o->speed = epuck->speed + delta * 10;
o->setCylindric(0.5, 0.5, 10);
o->dryFrictionCoefficient = 0.01;
o->setColor(Color(0.4, 0, 0));
o->collisionElasticity = 1;
bullets[o] = 300;
world->addObject(o);
}
doDumpFrames |= SDL_JoystickGetButton(joysticks[i], 0);
}
if (joysticks.size() > 0 && subjectiveView)
{
const EPuck* epuck = epucks[0];
Vector p(epuck->pos);
camera.pos.setX(p.x+cos(camera.yaw)*7);
camera.pos.setY(p.y+sin(camera.yaw)*7);
camera.yaw = epuck->angle;
camera.altitude = 11;
}
#endif
QMap<PhysicalObject*, int>::iterator i = bullets.begin();
while (i != bullets.end())
{
QMap<PhysicalObject*, int>::iterator oi = i;
++i;
if (oi.value())
{
oi.value()--;
}
else
{
PhysicalObject* o = oi.key();
world->removeObject(o);
bullets.erase(oi);
delete o;
}
}
ViewerWidget::timerEvent(event);
}
