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
27 #include "simple_window.h"
31 #include "manipulator.h"
32 #include "intelligence.h"
33 #include "canvas_cairo.h"
35 void generate_png(Universe *universe, scalar_t scale, FILE *file) {
36 CanvasCairo canvas(scale, universe->width(), universe->height());
37 canvas.set_line_width(2.0);
38 universe->draw(&canvas);
39 canvas.write_png(file);
42 int main(int argc, char **argv) {
43 const scalar_t world_width = 400;
44 const scalar_t world_height = 400;
45 const scalar_t grab_start_x = world_width * 0.5;
46 const scalar_t grab_start_y = world_height * 0.75;
47 const int nb_blocks = 1;
48 const scalar_t block_size = 80;
49 const int nb_iterations = 250;
52 Polygon *grabbed_polygon;
54 if(argc < 2 || argc > 3) {
55 cerr << argv[0] << " <nb pairs to generate> [<dir> [<seed>]]" << endl;
59 int nb_pairs = atoi(argv[1]);
61 char dir[1024] = "/tmp/";
64 strncpy(dir, argv[2], sizeof(dir) / sizeof(char) - 1);
68 srand48(atoi(argv[1]));
71 universe = new Universe(10, world_width, world_height);
73 for(int n = 0; n < nb_pairs; n++) {
74 if(n%1000 == 0) { cout << "Example #" << n+1 << endl; }
79 const int nb_attempts_max = 100;
82 for(int u = 0; u < nb_blocks; u++) {
102 scalar_t delta = block_size / sqrt(2.0);
103 scalar_t object_center_x = delta + (world_width - 2 * delta) * drand48();
104 scalar_t object_center_y = delta + (world_height - 2 * delta) * drand48();
105 scalar_t red, green, blue;
110 pol = new Polygon(0.5,
112 x, y, sizeof(x)/sizeof(scalar_t));
113 pol->set_position(object_center_x, object_center_y, M_PI * 2 * drand48());
114 pol->set_speed(0, 0, 0);
115 universe->initialize_polygon(pol);
117 } while(nb_attempts < nb_attempts_max && universe->collide(pol));
119 if(nb_attempts == nb_attempts_max) {
125 universe->add_polygon(pol);
129 grabbed_polygon = universe->pick_polygon(grab_start_x, grab_start_y);
130 } while(!grabbed_polygon);
132 const scalar_t scaling = 0.16;
134 CanvasCairo grab_trace(scaling, world_width, world_height);
138 sprintf(buffer, "%s/%03d/", dir, n/1000);
144 sprintf(buffer, "%s/%03d/dyn_%06d_world_0.png", dir, n/1000, n);
145 FILE *file = fopen(buffer, "w");
146 generate_png(universe, scaling, file);
150 scalar_t grab_relative_x = grabbed_polygon->relative_x(grab_start_x, grab_start_y);
151 scalar_t grab_relative_y = grabbed_polygon->relative_y(grab_start_x, grab_start_y);
152 // scalar_t grab_previous_x = grab_start_x, grab_previous_y = grab_start_y;
156 scalar_t xp[n], yp[n];
157 for(int k = 0; k < n; k++) {
158 scalar_t radius = 1/scaling;
159 scalar_t alpha = 2 * M_PI * scalar_t(k) / scalar_t(n);
160 xp[k] = grab_start_x + radius * cos(alpha);
161 yp[k] = grab_start_y + radius * sin(alpha);
163 grab_trace.set_drawing_color(0.0, 0.0, 0.0);
164 grab_trace.set_line_width(1.0);
165 grab_trace.draw_polygon(1, n, xp, yp);
169 for(int i = 0; i < nb_iterations; i++) {
170 scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y);
171 scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y);
172 grabbed_polygon->apply_force(dt, xf, yf, 0.0, -1.0);
173 universe->update(dt);
177 scalar_t xp[2], yp[2];
178 xp[0] = grab_previous_x;
179 yp[0] = grab_previous_y;
182 grab_previous_x = xf;
183 grab_previous_y = yf;
185 grab_trace.set_drawing_color(0.0, 0.0, 0.0);
186 grab_trace.draw_polygon(1, 2, xp, yp);
193 sprintf(buffer, "%s/%03d/dyn_%06d_grab.png", dir, n/1000, n);
194 FILE *file = fopen(buffer, "w");
195 grab_trace.write_png(file);
201 sprintf(buffer, "%s/%03d/dyn_%06d_world_1.png", dir, n/1000, n);
202 FILE *file = fopen(buffer, "w");
203 generate_png(universe, scaling, file);