/*
- * dyncnn is a deep-learning algorithm for the prediction of
- * interacting object dynamics
- *
- * Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/
- * Written by Francois Fleuret <francois.fleuret@idiap.ch>
- *
- * This file is part of dyncnn.
- *
- * dyncnn is free software: you can redistribute it and/or modify it
- * under the terms of the GNU General Public License version 3 as
- * published by the Free Software Foundation.
- *
- * dyncnn is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with dyncnn. If not, see <http://www.gnu.org/licenses/>.
- *
- */
+
+ flatland is a simple 2d physical simulator
+
+ Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/
+ Written by Francois Fleuret <francois.fleuret@idiap.ch>
+
+ This file is part of flatland
+
+ flatland is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License version 3 as
+ published by the Free Software Foundation.
+
+ flatland is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with flatland. If not, see <http://www.gnu.org/licenses/>.
+
+*/
#include <iostream>
#include <fstream>
int width, int height,
int nb_shapes,
int random_shape_size, int random_colors,
+ int pulling,
unsigned char *output) {
const scalar_t super_definition = 8;
const scalar_t world_height = height * super_definition;
const scalar_t scaling = 1 / super_definition;
- const scalar_t dt = 0.1;
- const int nb_iterations_per_steps = 5;
+ int nb_iterations_per_dt = 50;
+ scalar_t dt = 5.0 / scalar_t(nb_iterations_per_dt);
//////////////////////////////////////////////////////////////////////
- // We will generate images { 0, every_nth, 2 * every_nth, ..., k * every_nth < nb_simulated_frames }
+ // We will generate images { 0, nb_iterations_per_dt, 2 * nb_iterations_per_dt, ..., k * nb_iterations_per_dt < nb_simulated_frames }
- // The framerate every_nth may be set to smaller value to generate
+ // The framerate nb_iterations_per_dt may be set to smaller value to generate
// nice materials for presentations or papers.
- int every_nth = 16;
- int nb_simulated_frames = 1 + (nb_images - 1) * every_nth;
+ int nb_simulated_frames = 1 + (nb_images - 1) * nb_iterations_per_dt;
int random_grasp = 1;
Universe *universe;
universe = new Universe(nb_shapes, world_width, world_height);
- const int nb_saved_frames = (nb_simulated_frames + every_nth - 1) / every_nth;
+ const int nb_saved_frames = (nb_simulated_frames + nb_iterations_per_dt - 1) / nb_iterations_per_dt;
if(nb_saved_frames != nb_images) {
cerr << "It makes no sense." << endl;
abort();
canvases[s] = new CanvasCairo(scaling, universe->width(), universe->height());
}
+ scalar_t gravity_fx = 0.0;
+ scalar_t gravity_fy = 1.0;
+
scalar_t grab_start_x, grab_start_y;
int failed;
const int max_total_nb_attempts = 1000000;
do {
- if(random_grasp) {
- grab_start_x = world_width * (0.1 + 0.8 * drand48());
- grab_start_y = world_height * (0.1 + 0.8 * drand48());
- } else {
- grab_start_x = world_width * 0.5;
- grab_start_y = world_height * 0.75;
+ if(pulling) {
+ if(random_grasp) {
+ grab_start_x = world_width * (0.1 + 0.8 * drand48());
+ grab_start_y = world_height * (0.1 + 0.8 * drand48());
+ } else {
+ grab_start_x = world_width * 0.5;
+ grab_start_y = world_height * 0.75;
+ }
}
do {
scalar_t shape_size;
if(random_shape_size) {
- shape_size = 40 + 80 * drand48();
+ shape_size = 80 + 80 * drand48();
} else {
- shape_size = 80;
+ shape_size = 120;
}
scalar_t red, green, blue;
}
}
- grabbed_polygon = universe->pick_polygon(grab_start_x, grab_start_y);
-
- } while(!grabbed_polygon);
+ if(pulling) {
+ grabbed_polygon = universe->pick_polygon(grab_start_x, grab_start_y);
+ }
+ } while(pulling and !grabbed_polygon);
failed = 0;
- scalar_t grab_relative_x = grabbed_polygon->relative_x(grab_start_x, grab_start_y);
- scalar_t grab_relative_y = grabbed_polygon->relative_y(grab_start_x, grab_start_y);
+ scalar_t grab_relative_x, grab_relative_y;
- for(int s = 0; !failed && s < nb_simulated_frames; s++) {
- if(s % every_nth == 0) {
- int t = s / every_nth;
- // scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y);
- // scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y);
+ if(pulling) {
+ grab_relative_x = grabbed_polygon->relative_x(grab_start_x, grab_start_y);
+ grab_relative_y = grabbed_polygon->relative_y(grab_start_x, grab_start_y);
+ }
- // canvases[2 * t + 0]->clear();
- // draw_grabbing_point_on_canvas(canvases[2 * t + 0], scaling,
- // xf, yf, 0.0, 0.0, 0.0);
- // canvases[2 * t + 1]->clear();
- // draw_universe_on_canvas(canvases[2 * t + 1], scaling, universe);
+ for(int s = 0; !failed && s < nb_simulated_frames; s++) {
+ if(s % nb_iterations_per_dt == 0) {
+ int t = s / nb_iterations_per_dt;
canvases[t]->clear();
draw_universe_on_canvas(canvases[t], scaling, universe);
-
- // if(show_grabbing_point) {
- // draw_grabbing_point_on_canvas(canvases[2 * t + 1], scaling,
- // xf, yf, 1.0, 0.0, 0.0);
- // }
}
if(s < nb_simulated_frames - 1) {
+
// Run the simulation
- for(int i = 0; i < nb_iterations_per_steps; i++) {
+
+ if(pulling) {
+ // Pulling the grabbed rectangle
scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y);
scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y);
if (xf < 0 || xf >= world_width || yf < 0 || yf >= world_height) {
failed = 1;
}
grabbed_polygon->apply_force(dt, xf, yf, 0.0, -1.0);
- universe->update(dt, 1.0 / scaling);
+ } else {
+ // Gravity
+ universe->apply_gravity(dt, gravity_fx, gravity_fy);
}
+
+ universe->update(dt, 1.0 / scaling);
}
}
total_nb_attempts++;
if(total_nb_attempts >= max_total_nb_attempts) {
- cerr << "There was " << max_total_nb_attempts << " attempts at generating the sequences." << endl;
+ cerr << "There was "
+ << max_total_nb_attempts
+ << " attempts at generating the sequences, aborting." << endl;
abort();
}
projects / flatland.git / blobdiff