bool Environment::initRobots(const Formation f)
{
for (GLint i = 0; i < N_CELLS; ++i)
if (!addCell(gXPos[i], gYPos[i], gHeading[i]))
return false;
// initialize each robot's neighborhood
if (!initNbrs()) return false;
setColor(BLACK);
return (getNCells() == N_CELLS) &&
sendMsg(new Formation(f), f.getSeedID(),
ID_OPERATOR, CHANGE_FORMATION);
}
//
// 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)
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
// window up to display the window and its contents.