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   canvas.set_line_width(2.0);
  35   universe->draw(&canvas);
  36   canvas.write_png(file);
  37 }
  38
  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;
  44
  45   Universe *universe;
  46   Polygon *grabbed_polygon;
  47
  48   if(argc < 2 || argc > 3) {
  49     cerr << argv[0] << " <nb pairs to generate> [<dir> [<seed>]]" << endl;
  50     exit(1);
  51   }
  52
  53   int nb_pairs = atoi(argv[1]);
  54
  55   char dir[1024] = "/tmp/";
  56
  57   if(argc > 2) {
  58     strncpy(dir, argv[2], sizeof(dir) / sizeof(char) - 1);
  59   }
  60
  61   if(argc > 3) {
  62     srand48(atoi(argv[1]));
  63   }
  64
  65   universe = new Universe(10, world_width, world_height);
  66
  67   for(int n = 0; n < nb_pairs; n++) {
  68     cout << "Example " << n << endl;
  69
  70     do {
  71       universe->clear();
  72
  73       const int nb_attempts_max = 100;
  74       int nb_attempts = 0;
  75
  76       for(int u = 0; u < 10; u++) {
  77         Polygon *pol = 0;
  78
  79         nb_attempts = 0;
  80
  81         do {
  82           scalar_t square_size = 80;
  83
  84           scalar_t x[] = {
  85             - square_size * 0.5,
  86             + square_size * 0.5,
  87             + square_size * 0.5,
  88             - square_size * 0.5,
  89           };
  90
  91           scalar_t y[] = {
  92             - square_size * 0.5,
  93             - square_size * 0.5,
  94             + square_size * 0.5,
  95             + square_size * 0.5,
  96           };
  97
  98           scalar_t delta = square_size / sqrt(2.0);
  99           scalar_t object_center_x = delta + (world_width - 2 * delta) * drand48();
 100           scalar_t object_center_y = delta + (world_height - 2 * delta) * drand48();
 101           scalar_t red, green, blue;
 102           red = 0.90;
 103           green = red;
 104           blue = red;
 105           delete pol;
 106           pol = new Polygon(0.5,
 107                             red, green, blue,
 108                             x, y, sizeof(x)/sizeof(scalar_t));
 109           pol->set_position(object_center_x, object_center_y, M_PI * 2 * drand48());
 110           pol->set_speed(0, 0, 0);
 111           universe->initialize_polygon(pol);
 112           nb_attempts++;
 113         } while(nb_attempts < nb_attempts_max && universe->collide(pol));
 114
 115         if(nb_attempts == nb_attempts_max) {
 116           delete pol;
 117           u = 0;
 118           universe->clear();
 119           nb_attempts = 0;
 120         } else {
 121           universe->add_polygon(pol);
 122         }
 123       }
 124
 125       grabbed_polygon = universe->pick_polygon(grab_start_x, grab_start_y);
 126     } while(!grabbed_polygon);
 127
 128     const scalar_t scaling = 0.16;
 129
 130     CanvasCairo grab_trace(scaling, world_width, world_height);
 131
 132     {
 133       char buffer[1024];
 134       sprintf(buffer, "%s/dyn_%06d_world_0.png", dir, n);
 135       FILE *file = fopen(buffer, "w");
 136       generate_png(universe, scaling, file);
 137       fclose(file);
 138     }
 139
 140     scalar_t grab_relative_x = grabbed_polygon->relative_x(grab_start_x, grab_start_y);
 141     scalar_t grab_relative_y = grabbed_polygon->relative_y(grab_start_x, grab_start_y);
 142     // scalar_t grab_previous_x = grab_start_x, grab_previous_y = grab_start_y;
 143
 144     {
 145       int n = 36;
 146       scalar_t xp[n], yp[n];
 147       for(int k = 0; k < n; k++) {
 148         scalar_t radius = 1/scaling;
 149         scalar_t alpha = 2 * M_PI * scalar_t(k) / scalar_t(n);
 150         xp[k] = grab_start_x + radius * cos(alpha);
 151         yp[k] = grab_start_y + radius * sin(alpha);
 152       }
 153       grab_trace.set_drawing_color(0.0, 0.0, 0.0);
 154       grab_trace.set_line_width(1.0);
 155       grab_trace.draw_polygon(1, n, xp, yp);
 156     }
 157
 158     const int nb_iterations = 250;
 159     scalar_t dt = 0.1;
 160     for(int i = 0; i < nb_iterations; i++) {
 161       scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y);
 162       scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y);
 163       grabbed_polygon->apply_force(dt, xf, yf, 0.0, -1.0);
 164       universe->update(dt);
 165
 166       /*
 167         {
 168         scalar_t xp[2], yp[2];
 169         xp[0] = grab_previous_x;
 170         yp[0] = grab_previous_y;
 171         xp[1] = xf;
 172         yp[1] = yf;
 173         grab_previous_x = xf;
 174         grab_previous_y = yf;
 175
 176         grab_trace.set_drawing_color(0.0, 0.0, 0.0);
 177         grab_trace.draw_polygon(1, 2, xp, yp);
 178         }
 179       */
 180     }
 181
 182     {
 183       char buffer[1024];
 184       sprintf(buffer, "%s/dyn_%06d_world_1.png", dir, n);
 185       FILE *file = fopen(buffer, "w");
 186       generate_png(universe, scaling, file);
 187       fclose(file);
 188     }
 189
 190     {
 191       char buffer[1024];
 192       sprintf(buffer, "%s/dyn_%06d_grab.png", dir, n);
 193       FILE *file = fopen(buffer, "w");
 194       grab_trace.write_png(file);
 195       fclose(file);
 196     }
 197   }
 198
 199   delete universe;
 200 }