//----------------------------------------------------------------------------------------------------------------------
void SMCAgent::init()
{
m_radius = 0.02;
if (SETTINGS->hasChild("Config/GA/Evolvable"))
{
const ci::XmlTree& xml = SETTINGS->getChild("Config/GA/Evolvable");
// Todo: move to respective sensor class!!!
// Distance sensor
if (xml.getChild("DistanceSensor").getValue<bool>(0))
{
m_distanceSensor = new DistanceSensor();
m_distanceSensor->fromXml(xml.getChild("DistanceSensor"));
setSensorMode(xml.getChild("DistanceSensor").getAttributeValue<std::string>("Mode", "Absolute"));
}
else
{
m_distanceSensor = NULL;
}
// Gradient sensor
if (xml.getChild("GradientSensor").getValue<bool>(0))
{
m_gradientSensor = new GradientSensor();
m_gradientSensor->fromXml(xml.getChild("GradientSensor"));
}
else
{
m_gradientSensor = NULL;
}
// Torus sensor
if (xml.getChild("TorusSensor").getValue<bool>(0))
{
m_torusSensor = new TorusSensor();
m_torusSensor->fromXml(xml.getChild("TorusSensor"));
}
else
{
m_torusSensor = NULL;
}
setMaxSpeed(xml.getChild("MaxSpeed").getValue<double>(1.0));
setMaxAngularSpeed(degreesToRadians(xml.getChild("MaxAngularSpeed").getValue<double>(180)));
setMaxAngle(degreesToRadians(xml.getChild("MaxAngle").getValue<double>(90)));
setMaxPosition(xml.getChild("MaxPosition").getValue<double>(0.5));
setAngleWraps(xml.getChild("AngleWraps").getValue<bool>(1));
setPositionWraps(xml.getChild("PositionWraps").getValue<bool>(1));
m_energyInitial = xml.getChild("Energy").getAttributeValue<float>("initial", 30.0);
m_energySpeedTresh = xml.getChild("Energy").getAttributeValue<float>("threshForSpeed", -1);
m_evMin = xml.getChild("Energy").getAttributeValue<float>("evMin", 0);
m_evMax = xml.getChild("Energy").getAttributeValue<float>("evMax", 10);
m_engReplFoodSens = xml.getChild("Energy").getAttributeValue<bool>("engReplFoodSens", false);
getEnvironment().fromXml(xml.getChild("Environment"));
}
reset();
}
void CIrrOdeWorld::initPhysics() {
if (m_bPhysicsInitialized) return;
m_iNodesInitialized=0;
CIrrOdeSceneNode::initPhysics();
m_iWorldId=m_pOdeDevice->worldCreate();
m_iJointGroupId=m_pOdeDevice->jointGroupCreate(0);
if (!m_pWorldSpace) m_pWorldSpace=new CIrrOdeSpace(this,m_pSceneManager);
if (m_pWorldSpace!=NULL) m_pWorldSpace->initPhysics();
setLinearDamping (m_fDampingLinear );
setAngularDamping (m_fDampingAngular );
setLinearDampingThreshold (m_fDampingLinearThreshold );
setAngularDampingThreshold(m_fDampingAngularThreshold);
setAutoDisableFlag (m_iAutoDisableFlag );
setAutoDisableLinearThreshold (m_fAutoDisableLinearThreshold );
setAutoDisableAngularThreshold(m_fAutoDisableAngularThreshold);
setAutoDisableSteps (m_iAutoDisableSteps );
setAutoDisableTime (m_fAutoDisableTime );
setGravity(m_cGravity);
if (m_fMaxAngularSpeed!=_DEFAULT_MAX_ANGULAR_SPEED) setMaxAngularSpeed(m_fMaxAngularSpeed);
#ifdef _TRACE_INIT_PHYSICS
printf("world created .. id=%i\n",(int)m_iWorldId);
#endif
irr::core::list<CIrrOdeSpace *>::Iterator s;
for (s=m_pSpaces.begin(); s!=m_pSpaces.end(); s++) {
#ifdef _TRACE_INIT_PHYSICS
printf("CIrrOdeWorld::initPhysics: init space\n");
#endif
CIrrOdeSpace *pSpace=(*s);
pSpace->initPhysics();
}
irr::core::list<CIrrOdeGeom *>::Iterator i;
for (i=m_pGeoms.begin(); i!=m_pGeoms.end(); i++) {
#ifdef _TRACE_INIT_PHYSICS
printf("CIrrOdeWorld::initPhysics: init geom\n");
#endif
CIrrOdeGeom *pGeom=(*i);
pGeom->initPhysics();
}
irr::core::list<CIrrOdeBody *>::Iterator b,ib2;
for (b=m_pBodies.begin(); b!=m_pBodies.end(); b++) {
#ifdef _TRACE_INIT_PHYSICS
printf("CIrrOdeWorld::initPhysics: init body\n");
#endif
CIrrOdeBody *b1=*b;
b1->initPhysics();
}
irr::core::list<irr::ode::IIrrOdeStepMotor *>::Iterator it;
for (it=m_lStepMotors.begin(); it!=m_lStepMotors.end(); it++) (*it)->initPhysics();
m_bPhysicsInitialized = true;
}
