2 ////////////////////////////////////////////////////////////////////
5 // Written by Francois Fleuret //
6 // Contact <francois.fleuret@idiap.ch> for comments & bug reports //
9 ////////////////////////////////////////////////////////////////////
11 // for i in {0..49}; do u=$(printf %03d $i); mkdir $u && mv dyn_${u}* ${u}; done
26 #include "simple_window.h"
30 #include "manipulator.h"
31 #include "intelligence.h"
32 #include "canvas_cairo.h"
34 void generate_png(Universe *universe, scalar_t scale, FILE *file) {
35 CanvasCairo canvas(scale, universe->width(), universe->height());
36 canvas.set_line_width(2.0);
37 universe->draw(&canvas);
38 canvas.write_png(file);
41 int main(int argc, char **argv) {
42 scalar_t world_width = 400;
43 scalar_t world_height = 400;
44 scalar_t grab_start_x = world_width * 0.5;
45 scalar_t grab_start_y = world_height * 0.75;
48 Polygon *grabbed_polygon;
50 if(argc < 2 || argc > 3) {
51 cerr << argv[0] << " <nb pairs to generate> [<dir> [<seed>]]" << endl;
55 int nb_pairs = atoi(argv[1]);
57 char dir[1024] = "/tmp/";
60 strncpy(dir, argv[2], sizeof(dir) / sizeof(char) - 1);
64 srand48(atoi(argv[1]));
67 universe = new Universe(10, world_width, world_height);
69 for(int n = 0; n < nb_pairs; n++) {
70 cout << "Example " << n << endl;
75 const int nb_attempts_max = 100;
78 for(int u = 0; u < 10; u++) {
84 scalar_t square_size = 80;
100 scalar_t delta = square_size / sqrt(2.0);
101 scalar_t object_center_x = delta + (world_width - 2 * delta) * drand48();
102 scalar_t object_center_y = delta + (world_height - 2 * delta) * drand48();
103 scalar_t red, green, blue;
108 pol = new Polygon(0.5,
110 x, y, sizeof(x)/sizeof(scalar_t));
111 pol->set_position(object_center_x, object_center_y, M_PI * 2 * drand48());
112 pol->set_speed(0, 0, 0);
113 universe->initialize_polygon(pol);
115 } while(nb_attempts < nb_attempts_max && universe->collide(pol));
117 if(nb_attempts == nb_attempts_max) {
123 universe->add_polygon(pol);
127 grabbed_polygon = universe->pick_polygon(grab_start_x, grab_start_y);
128 } while(!grabbed_polygon);
130 const scalar_t scaling = 0.16;
132 CanvasCairo grab_trace(scaling, world_width, world_height);
136 sprintf(buffer, "%s/dyn_%06d_world_0.png", dir, n);
137 FILE *file = fopen(buffer, "w");
138 generate_png(universe, scaling, file);
142 scalar_t grab_relative_x = grabbed_polygon->relative_x(grab_start_x, grab_start_y);
143 scalar_t grab_relative_y = grabbed_polygon->relative_y(grab_start_x, grab_start_y);
144 // scalar_t grab_previous_x = grab_start_x, grab_previous_y = grab_start_y;
148 scalar_t xp[n], yp[n];
149 for(int k = 0; k < n; k++) {
150 scalar_t radius = 1/scaling;
151 scalar_t alpha = 2 * M_PI * scalar_t(k) / scalar_t(n);
152 xp[k] = grab_start_x + radius * cos(alpha);
153 yp[k] = grab_start_y + radius * sin(alpha);
155 grab_trace.set_drawing_color(0.0, 0.0, 0.0);
156 grab_trace.set_line_width(1.0);
157 grab_trace.draw_polygon(1, n, xp, yp);
160 const int nb_iterations = 250;
162 for(int i = 0; i < nb_iterations; i++) {
163 scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y);
164 scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y);
165 grabbed_polygon->apply_force(dt, xf, yf, 0.0, -1.0);
166 universe->update(dt);
170 scalar_t xp[2], yp[2];
171 xp[0] = grab_previous_x;
172 yp[0] = grab_previous_y;
175 grab_previous_x = xf;
176 grab_previous_y = yf;
178 grab_trace.set_drawing_color(0.0, 0.0, 0.0);
179 grab_trace.draw_polygon(1, 2, xp, yp);
186 sprintf(buffer, "%s/dyn_%06d_world_1.png", dir, n);
187 FILE *file = fopen(buffer, "w");
188 generate_png(universe, scaling, file);
194 sprintf(buffer, "%s/dyn_%06d_grab.png", dir, n);
195 FILE *file = fopen(buffer, "w");
196 grab_trace.write_png(file);