extern "C" void fl_generate_sequence(int nb_images,
int width, int height,
+ int nb_shapes,
int random_shape_size, int random_colors,
+ int pulling,
unsigned char *output) {
- const scalar_t world_width = width * 8;
- const scalar_t world_height = height * 8;
- const scalar_t scaling = 0.125;
+ const scalar_t super_definition = 8;
+ const scalar_t world_width = width * super_definition;
+ 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 every_nth = 16;
int nb_simulated_frames = 1 + (nb_images - 1) * every_nth;
int random_grasp = 1;
- int nb_shapes = 10;
Universe *universe;
Polygon *grabbed_polygon;
int failed;
+ int total_nb_attempts = 0;
+ 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 {
}
}
- 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;
+
+ 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);
+ }
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);
-
- // 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);
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++) {
- 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);
- cout << "xf = " << xf << " yf = " << yf << endl;
- if (xf < 0 || xf >= world_width || yf < 0 || yf >= world_height) {
- failed = 1;
+ if(pulling) {
+ 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);
+ } else {
+ // Gravity
}
- grabbed_polygon->apply_force(dt, xf, yf, 0.0, -1.0);
universe->update(dt, 1.0 / scaling);
}
}
}
- if(failed) cout << "** FAILED" << endl;
- else cout << "** DONE" << endl;
+ total_nb_attempts++;
+
+ if(total_nb_attempts >= max_total_nb_attempts) {
+ cerr << "There was " << max_total_nb_attempts << " attempts at generating the sequences." << endl;
+ abort();
+ }
} while(failed);