generate.cc

   1
   2 ////////////////////////////////////////////////////////////////////
   3 // START_IP_HEADER                                                //
   4 //                                                                //
   5 // Written by Francois Fleuret                                    //
   6 // Contact <francois.fleuret@idiap.ch> for comments & bug reports //
   7 //                                                                //
   8 // END_IP_HEADER                                                  //
   9 ////////////////////////////////////////////////////////////////////
  10
  11 #include <iostream>
  12 #include <fstream>
  13 #include <cmath>
  14 #include <stdio.h>
  15 #include <stdlib.h>
  16 #include <stdint.h>
  17 #include <errno.h>
  18 #include <string.h>
  19
  20 using namespace std;
  21
  22 #include "misc.h"
  23 #include "task.h"
  24 #include "simple_window.h"
  25 #include "universe.h"
  26 #include "plotter.h"
  27 #include "retina.h"
  28 #include "manipulator.h"
  29 #include "intelligence.h"
  30 #include "canvas_cairo.h"
  31
  32 void generate_png(Universe *universe, scalar_t scale, FILE *file) {
  33   CanvasCairo canvas(scale, universe->width(), universe->height());
  34   universe->draw(&canvas);
  35   canvas.write_png(file);
  36 }
  37
  38 int main(int argc, char **argv) {
  39   scalar_t world_width = 400;
  40   scalar_t world_height = 400;
  41   scalar_t square_size = 100;
  42   scalar_t hand_x = world_width * 0.5;
  43   scalar_t hand_y = world_height * 0.5;
  44
  45   Universe *universe;
  46   Polygon *grabbed_polygon;
  47   int nb_attempts = 0;
  48
  49   srand48(atoi(argv[1]));
  50
  51   do {
  52     universe = new Universe(10, world_width, world_height);
  53
  54     // scalar_t object_center_x = world_width * 0.5;
  55     // scalar_t object_center_y = world_height * 0.5;
  56
  57     scalar_t object_center_x = world_width * drand48();
  58     scalar_t object_center_y = world_height * drand48();
  59
  60     scalar_t x[] = {
  61       - square_size * 0.5,
  62       + square_size * 0.5,
  63       + square_size * 0.5,
  64       - square_size * 0.5,
  65     };
  66
  67     scalar_t y[] = {
  68       - square_size * 0.5,
  69       - square_size * 0.5,
  70       + square_size * 0.5,
  71       + square_size * 0.5,
  72     };
  73
  74     Polygon *pol = new Polygon(0.5, 1.0, 1.0, 0.0, x, y, 4);
  75     pol->set_position(object_center_x, object_center_y, M_PI/3);
  76     pol->set_speed(0, 0, 0);
  77     universe->initialize_polygon(pol);
  78     universe->add_polygon(pol);
  79
  80     grabbed_polygon = universe->pick_polygon(hand_x, hand_y);
  81
  82     nb_attempts++;
  83     if(nb_attempts > 1000) {
  84       cerr << "Could not initialize the universe with a grabbed polygon after 1000 attempts. Aborting().";
  85       abort();
  86     }
  87
  88   } while(!grabbed_polygon);
  89
  90   {
  91     FILE *file = fopen("universe1.png", "w");
  92     generate_png(universe, 0.25, file);
  93   }
  94
  95   scalar_t grab_relative_x = grabbed_polygon->relative_x(hand_x, hand_y);
  96   scalar_t grab_relative_y = grabbed_polygon->relative_y(hand_x, hand_y);
  97
  98   scalar_t dt = 1.0;
  99   for(int i = 0; i < 10; i++) {
 100     scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y);
 101     scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y);
 102     scalar_t force_x = (hand_x - xf) * 10;
 103     scalar_t force_y = (hand_y - yf) * 10;
 104     grabbed_polygon->apply_force(dt, xf, yf, 0.0, -1.0);
 105     universe->update(dt);
 106   }
 107
 108   {
 109     FILE *file = fopen("universe2.png", "w");
 110     generate_png(universe, 0.25, file);
 111   }
 112
 113   delete universe;
 114 }