2 ////////////////////////////////////////////////////////////////////
5 // Written by Francois Fleuret //
6 // Contact <francois.fleuret@idiap.ch> for comments & bug reports //
9 ////////////////////////////////////////////////////////////////////
24 #include "simple_window.h"
28 #include "manipulator.h"
29 #include "intelligence.h"
30 #include "canvas_cairo.h"
32 void generate_png(Universe *universe, scalar_t scale, FILE *file) {
33 CanvasCairo canvas(scale, universe->width(), universe->height());
34 canvas.set_line_width(2.0);
35 universe->draw(&canvas);
36 canvas.write_png(file);
39 int main(int argc, char **argv) {
40 scalar_t world_width = 400;
41 scalar_t world_height = 400;
42 scalar_t grab_start_x = world_width * 0.5;
43 scalar_t grab_start_y = world_height * 0.75;
46 Polygon *grabbed_polygon;
48 if(argc < 2 || argc > 3) {
49 cerr << argv[0] << " <nb pairs to generate> [<seed>]" << endl;
53 int nb_pairs = atoi(argv[1]);
56 srand48(atoi(argv[1]));
59 universe = new Universe(10, world_width, world_height);
61 for(int n = 0; n < nb_pairs; n++) {
62 cout << "Example " << n << endl;
67 const int nb_attempts_max = 100;
70 for(int u = 0; u < 10; u++) {
76 scalar_t square_size = 80;
92 scalar_t delta = square_size / sqrt(2.0);
93 scalar_t object_center_x = delta + (world_width - 2 * delta) * drand48();
94 scalar_t object_center_y = delta + (world_height - 2 * delta) * drand48();
95 scalar_t red, green, blue;
100 pol = new Polygon(0.5,
102 x, y, sizeof(x)/sizeof(scalar_t));
103 pol->set_position(object_center_x, object_center_y, M_PI * 2 * drand48());
104 pol->set_speed(0, 0, 0);
105 universe->initialize_polygon(pol);
107 } while(nb_attempts < nb_attempts_max && universe->collide(pol));
109 if(nb_attempts == nb_attempts_max) {
115 universe->add_polygon(pol);
119 grabbed_polygon = universe->pick_polygon(grab_start_x, grab_start_y);
120 } while(!grabbed_polygon);
122 const scalar_t scaling = 0.16;
124 CanvasCairo grab_trace(scaling, world_width, world_height);
128 sprintf(buffer, "/tmp/universe_%03d_0.png", n);
129 FILE *file = fopen(buffer, "w");
130 generate_png(universe, scaling, file);
133 scalar_t grab_relative_x = grabbed_polygon->relative_x(grab_start_x, grab_start_y);
134 scalar_t grab_relative_y = grabbed_polygon->relative_y(grab_start_x, grab_start_y);
135 // scalar_t grab_previous_x = grab_start_x, grab_previous_y = grab_start_y;
139 scalar_t xp[n], yp[n];
140 for(int k = 0; k < n; k++) {
141 scalar_t radius = 1/scaling;
142 scalar_t alpha = 2 * M_PI * scalar_t(k) / scalar_t(n);
143 xp[k] = grab_start_x + radius * cos(alpha);
144 yp[k] = grab_start_y + radius * sin(alpha);
146 grab_trace.set_drawing_color(0.0, 0.0, 0.0);
147 grab_trace.set_line_width(1.0);
148 grab_trace.draw_polygon(1, n, xp, yp);
152 for(int i = 0; i < 500; i++) {
153 scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y);
154 scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y);
155 grabbed_polygon->apply_force(dt, xf, yf, 0.0, -1.0);
156 universe->update(dt);
160 scalar_t xp[2], yp[2];
161 xp[0] = grab_previous_x;
162 yp[0] = grab_previous_y;
165 grab_previous_x = xf;
166 grab_previous_y = yf;
168 grab_trace.set_drawing_color(0.0, 0.0, 0.0);
169 grab_trace.draw_polygon(1, 2, xp, yp);
176 sprintf(buffer, "/tmp/universe_%03d_1.png", n);
177 FILE *file = fopen(buffer, "w");
178 generate_png(universe, scaling, file);
183 sprintf(buffer, "/tmp/grab_trace_%03d.png", n);
184 FILE *file = fopen(buffer, "w");
185 grab_trace.write_png(file);