2 ////////////////////////////////////////////////////////////////////////////////
3 // This program is free software; you can redistribute it and/or //
4 // modify it under the terms of the GNU General Public License //
5 // version 2 as published by the Free Software Foundation. //
7 // This program is distributed in the hope that it will be useful, but //
8 // WITHOUT ANY WARRANTY; without even the implied warranty of //
9 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU //
10 // General Public License for more details. //
12 // Written and (C) by François Fleuret //
13 // Contact <francois.fleuret@epfl.ch> for comments & bug reports //
14 ////////////////////////////////////////////////////////////////////////////////
16 // $Id: move_square.cc,v 1.16 2006-07-21 08:44:16 fleuret Exp $
20 #include "manipulator.h"
22 class MoveSquare : public Task {
27 const static int world_width = 500;
28 const static int world_height = 500;
32 virtual char *name() { return "MOVE_SQUARE"; }
34 virtual int nb_degrees() { return 5; }
36 virtual int width() { return world_width; }
38 virtual int height() { return world_height; }
40 virtual void init(Universe *universe, int degree) {
41 if(degree == 0) _square_size = 200;
42 else if(degree == 1) _square_size = 150;
43 else if(degree == 2) _square_size = 100;
44 else _square_size = 50;
45 scalar_t x[] = { -_square_size/2, _square_size/2, _square_size/2, -_square_size/2 };
46 scalar_t y[] = { -_square_size/2, -_square_size/2, _square_size/2, _square_size/2 };
47 _target = new Polygon(0.5, 1.0, 1.0, 0.0, x, y, 4);
48 _target->set_position(_square_size/2, _square_size/2 + (world_height - _square_size) * drand48(), 0);
49 _target->set_speed(0, 0, 0);
50 universe->initialize(_target);
51 universe->add_polygon(_target);
54 scalar_t x[] = { ( 9 * world_width)/20, (11 * world_width)/20,
55 (11 * world_width)/20, ( 9 * world_width)/20 };
56 scalar_t y[] = { ( 3 * world_height)/20, ( 3 * world_height)/20,
57 (17 * world_height)/20, (17 * world_height)/20 };
58 obstacle = new Polygon(1.0, 0.0, 1.0, 0.0, x, y, 4);
59 obstacle->set_position(world_width/2, world_height/2, 0);
60 obstacle->set_speed(0, 0, 0);
61 obstacle->_nailed = true;
62 universe->initialize(obstacle);
63 universe->add_polygon(obstacle);
67 virtual void update(scalar_t dt, Universe *universe, Manipulator *manipulator) { }
69 virtual scalar_t reward(Universe *universe, Manipulator *manipulator) {
70 if(_target->_center_x > world_width - _square_size * 0.75) {
71 _target->set_position(_square_size/2, _square_size/2 + (world_height - _square_size) * drand48(), 0);
72 _target->set_speed(0, 0, 0);
73 manipulator->force_release();
78 virtual void draw(SimpleWindow *window) {
79 window->color(0.75, 0.75, 0.75);
80 int x = int (world_width - _square_size * 0.75);
81 window->draw_line(x, 0, x, world_height);
85 extern "C" Task *new_task() {
86 return new MoveSquare();