int main(int argc, char* argv[])
{
// Virtual Worldの作成
WorldPtr world = createWorld();
RobotPtr robot = createRobot(world);
// Agentの作成
ActionPtr action = createAction(robot);
DistSensorPtr sensor = createDistSensor(robot);
EnvironmentPtr env = createEnvironment(sensor);
ThreadedAgentPtr agent = createAgent(sensor, action);
// 初期化
env->init();
agent->init();
robot->init();
QApplication app(argc, argv);
MainWindow window;
window.setWorldModel(world);
window.setRobotModel(robot);
window.setEnvironment(env);
window.setAgent(agent);
window.show();
return app.exec();
}
static void display(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(-10.0f, 10.0f, -10.0f, 10.0f, -10.0f, 10.0f);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// Isometric view
glRotatef(45.0f, 1.0f, 0.0f, 0.0f);
glRotatef(-45.0f, 0.0f, 1.0f, 0.0f);
/*
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
GLint viewport[4];
glGetIntegerv(GL_VIEWPORT, viewport);
double aspect = (double)viewport[2] / (double)viewport[3];
gluPerspective(60, aspect, 1, 40);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
*/
// Move back
//glTranslatef(-6, 0, 0);
// Create the robot
glRotatef(bodyRotate.y, 0, 1.0f, 0);
createRobot();
glutSwapBuffers();
}
void RobotManager::addRobot(Robot::Dynamics dynamics)
{
Robot* robot = createRobot(dynamics);
// abort, if robit is unknown
if (robot == 0)
return;
m_robots.append(robot);
if (m_robots.size() == 1)
setActiveRobot(robot);
emit robotCountChanged();
}
void Canvas::setup(int bots, int lights, QVector<QPointF> botLoc, QVector<QPointF> lightLoc, int **matrix) {
this->addLine(0,0,400,400);
if (bots == 0)
{
bots = 1;
qDebug() << "ERROR: Invalid number of robots. Defaulting to 1.";
}
if (lights == 0)
{
lights = 1;
qDebug() << "ERROR: Invalid number of lights. Defaulting to 1.";
}
if (botLoc.size() < bots)
{
botLoc.clear();
botLoc = defaultBotLoc(bots);
qDebug() << "ERROR: Not enough robot locations. Using the default locations.";
}
if (lightLoc.size() < bots)
{
lightLoc.clear();
lightLoc = defaultLightLoc(lights);
qDebug() << "ERROR: Not enough light locations. Using the default locations.";
}
m_robotManager->setKMatrix(matrix);
Robot* robot;
for(int i = 0; i < bots; i++) {
robot = new Robot();
robot->setTransformOriginPoint(ROBOT_HEIGHT, ROBOT_HEIGHT);
robot->setPos(botLoc[i]);
createRobot(robot);
}
LightSource *light;
for (int i = 0; i < lights; i++)
{
light = new LightSource();
light->setPos(lightLoc[i]);
// TODO: take intensity from a file
light->setIntensity(100);
createLight(light);
}
}
void KleptobotFactory::doSomething() //if factory can create robot and creates it, play sound
{
if(getWorld()->canCreateRobot(getX(), getY()))
if(createRobot())
getWorld()->playSound(SOUND_ROBOT_BORN);
}
