Alvaro Cassinelli
save loops
Diff: blobConfig.cpp
- Revision:
- 0:df6fdd9b99f0
- Child:
- 1:3be7b7d050f4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/blobConfig.cpp Tue Dec 02 04:39:15 2014 +0000
@@ -0,0 +1,537 @@
+
+#include "blobConfig.h"
+
+blobConfig::blobConfig(): numBlobs(0) {
+ //blobArray.clear();// there is no need to do this, the vector does not contains anything here.
+}
+
+blobConfig::~blobConfig() {
+ clearConfig();
+}
+
+// =========================================== STANDARD CONFIGURATIONS =============================================================================
+
+
+
+void blobConfig::clearConfig() {
+ for (int i=0; i<blobArray.size(); i++) delete blobArray[i]; // we must delete the pointer created with new, so the memory for the object is liberated (calls its destructor)
+ blobArray.clear();
+ numBlobs=0;// this is just equal to blobArray.size()
+}
+
+void blobConfig::initConfig(configType cfType, int numblobs) {
+ myConfigType=cfType;
+ int i;
+ switch(myConfigType) {
+ case ONE_ELASTIC_FOLLOWING:
+ // computeBoundingBox();
+ clearConfig();
+ addOneElasticContourFollowing();
+ break;
+ case ONE_ELASTIC_MOUTH:
+ // computeBoundingBox();
+ clearConfig();
+ addOneElasticLoopContractCentral();
+ break;
+ case ONE_ELASTIC_MOUTH_SMALL:
+ // computeBoundingBox();
+ clearConfig();
+ addOneElasticLoopContractCentralFast();
+ break;
+ case BOUNCING_SPOTS:
+ // computeBoundingBox();
+ clearConfig();
+ for (i=0; i<numblobs ; i++) addOneRigidLoopBouncing();
+ randomizeAllColors();
+ break;
+ case LORENTZ_SPOTS:
+ // computeBoundingBox();
+ clearConfig();
+ for (i=0; i<numblobs ; i++) addOneRigidLoopLorentz();
+ randomizeAllColors();
+ break;
+ case FOLLOWING_SPOTS:
+ // computeBoundingBox();
+ clearConfig();
+ for (i=0; i<numblobs ; i++) {
+ addOneRigidLoopFollowing(vector2Df(CENTER_AD_MIRROR_X+i*200, CENTER_AD_MIRROR_Y+i*200), vector2Df(11,0));
+ }
+ // randomize colors:
+ randomizeAllColors();
+ break;
+ case ONE_TRACKING_SPOT:
+ clearConfig();
+ addOneRigidTrackingSpot();
+ break;
+ case ONE_TRACKING_SPOT_DOT:
+ clearConfig();
+ addOneRigidTrackingSpotDot();
+ break;
+ case AIR_HOCKEY_GAME:
+ // computeBoundingBox();
+ clearConfig();
+ for (i=0; i<numblobs ; i++) addOneRigidLoopAirHockey();
+ break;
+ case CIRCULAR_PONG_GAME:
+ // computeBoundingBox();
+ clearConfig();
+ // (1) One SPOT_TRACK to track the background. It will be the number 0 in the config.
+ addOneRigidTrackingSpotDot();
+ // (2) Add bouncing spots:
+ for (i=0; i<numblobs ; i++) {
+ float anglaux=1.0*i/numblobs*2*PI;
+ addOneRigidLoopBouncing(vector2Df(CENTER_AD_MIRROR_X+200*cos(anglaux), CENTER_AD_MIRROR_Y+200*sin(anglaux)),
+ vector2Df(5*cos(anglaux),sin(anglaux))*10);
+ }
+ break;
+ case VERTICAL_PINBALL_GAME:
+ clearConfig();
+ // (1) one (or two) SPOT_TRACK or SPOT_TRACK_DOT to track the background - It will be the number 0 (and 1) in the config.
+ addOneRigidTrackingSpotDot(vector2Df(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y+600),
+ vector2Df(0,0));
+ // addOneRigidTrackingSpot(vector2Df(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y+600),
+ // vector2Df(0,0));
+ // (2) one or more bouncing spots with gravity:
+ for (i=0; i<numblobs ; i++) {
+ addOneRigidLoopBouncingGravity(vector2Df(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y-600),
+ vector2Df(i*10-5,0));
+ }
+
+ break;
+ case RAIN_MODE:
+ clearConfig();
+ // Add bouncing spot with gravity:
+ for (i=0; i<numblobs ; i++) {
+ addOneRigidLoopBouncingGravity(vector2Df(CENTER_AD_MIRROR_X, 10), vector2Df(0,0));
+ }
+ randomizeAllColors();
+ break;
+ case FISH_NET_GAME:
+ clearConfig();
+ // (1) one SPOT_TRACK_DOT to track the background - It will be the number 0
+ addOneRigidTrackingSpotDot(vector2Df(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y), // CENTERED
+ vector2Df(0,0));
+ // (2) Add bouncing spots without gravity:
+ for (i=0; i<numblobs ; i++) {
+ float anglaux=1.0*i/numblobs*2*PI;
+ addOneRigidLoopBouncing(vector2Df(CENTER_AD_MIRROR_X+400*cos(anglaux), CENTER_AD_MIRROR_Y+400*sin(anglaux)),
+ vector2Df(cos(anglaux),sin(anglaux))*10);
+ }
+ break;
+ case PAC_MAN_GAME:
+ clearConfig();
+ //(1) add one very slowly slidind-bouncing spot, the PACMAN (number 0 in the config):
+ // addOneRigidLoopPacman(vector2Df(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y), vector2Df(20,0));
+
+ // note: the pacman behaviour is not so good... for the time being, let's just use a following spot:
+ addOneRigidLoopFollowing(vector2Df(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y), vector2Df(10,0));
+ // set the color to red+green:
+ blobArray.back()->setColor(0x06);
+
+
+ // (2) Add some initial SPOT_FOLLOWING or SPOT_GHOST spots (the ghosts):
+ addOneRigidLoopGhost(vector2Df(CENTER_AD_MIRROR_X+500, CENTER_AD_MIRROR_Y-500), vector2Df(-5,0));
+ addOneRigidLoopGhost(vector2Df(CENTER_AD_MIRROR_X-500, CENTER_AD_MIRROR_Y-500), vector2Df(5,0));
+
+ break;
+ default:
+ break;
+ }
+
+ // make sure lockin red is ON (could be off if using blue for checking mirror delay...):
+ IO.setLaserLockinPower(1);
+}
+
+void blobConfig::printParameters() {
+ for (int i=0; i<blobArray.size(); i++) {
+ pc.printf("Blob n.%d\n", i);
+ blobArray[i]->printParameters(); // a blob that is in stand-by mode may send data (good for testing with a fixed loop)
+ }
+ }
+
+ // ==================== Template spots from which to create multi-spot configurations: =====================
+
+void blobConfig::addOneElasticLoopRelax(vector2Df initpos, vector2Df initspeed) {
+ elasticLoop* pBlob= new elasticLoop();
+ pBlob->createBlob(blobArray.size(), RELAX, initpos, initspeed);
+ // add this relaxing loop to the present config:
+ blobArray.push_back(pBlob);
+
+ // update auxiliary variable numBlobs (just for easy reference):
+ numBlobs=blobArray.size();
+
+}
+
+
+void blobConfig::addOneElasticLoopContract(vector2Df initpos, vector2Df initspeed) {
+ elasticLoop* pBlob= new elasticLoop();
+ pBlob->createBlob(blobArray.size(), CONTRACT, initpos, initspeed);
+ // add this relaxing loop to the present config:
+ blobArray.push_back(pBlob);
+
+ // update auxiliary variable numBlobs (just for easy reference):
+ numBlobs=blobArray.size();
+}
+
+void blobConfig::addOneElasticLoopContractCentral(vector2Df initpos, vector2Df initspeed) {
+ elasticLoop* pBlob= new elasticLoop();
+ pBlob->createBlob(blobArray.size(), CONTRACT_CENTRAL, initpos, initspeed);
+ // add this relaxing loop to the present config:
+ blobArray.push_back(pBlob);
+
+ // update auxiliary variable numBlobs (just for easy reference):
+ numBlobs=blobArray.size();
+}
+
+void blobConfig::addOneElasticLoopContractCentralFast(vector2Df initpos, vector2Df initspeed) {
+ elasticLoop* pBlob= new elasticLoop();
+ pBlob->createBlob(blobArray.size(), CONTRACT_CENTRAL_FAST, initpos, initspeed);
+ // add this relaxing loop to the present config:
+ blobArray.push_back(pBlob);
+
+ // update auxiliary variable numBlobs (just for easy reference):
+ numBlobs=blobArray.size();
+}
+
+void blobConfig::addOneElasticContourFollowing(vector2Df initpos, vector2Df initspeed) {
+
+ elasticLoop* pBlob= new elasticLoop();
+ pBlob->createBlob(blobArray.size(), CONTOUR_FOLLOWING, initpos, initspeed);
+ // add this relaxing loop to the present config:
+ blobArray.push_back(pBlob);
+
+ // update auxiliary variable numBlobs (just for easy reference):
+ numBlobs=blobArray.size();
+}
+
+
+void blobConfig:: addOneElasticContourFollowingFAST(vector2Df initpos, vector2Df initspeed) {
+ elasticLoop* pBlob= new elasticLoop();
+ pBlob->createBlob(blobArray.size(), CONTOUR_FOLLOWING_FAST, initpos, initspeed);
+ // add this relaxing loop to the present config:
+ blobArray.push_back(pBlob);
+
+ // update auxiliary variable numBlobs (just for easy reference):
+ numBlobs=blobArray.size();
+}
+
+void blobConfig::addOneElasticBouncing(vector2Df initpos, vector2Df initspeed) {
+ elasticLoop* pBlob= new elasticLoop();
+ pBlob->createBlob(blobArray.size(), BOUNCING, initpos, initspeed);
+ // add this relaxing loop to the present config:
+ blobArray.push_back(pBlob);
+
+ // update auxiliary variable numBlobs (just for easy reference):
+ numBlobs=blobArray.size();
+}
+void blobConfig::addOneRigidLoopBouncingGravity(vector2Df initpos, vector2Df initspeed) {
+ rigidLoop* pBlob= new rigidLoop();
+ pBlob->createBlob(blobArray.size(), SPOT_BOUNCING_FACTOR, initpos, initspeed);
+ // (We can use here methods of the child class, even if these are not declared virtual on the base class, because we are doing this BEFORE
+ // adding this to the blobArray as a pointer). This is good to set parameters...
+ pBlob->gravity.set(0,3.5);
+ pBlob->centerMass.dampMotion = 0.002;
+ pBlob->factorBouncingForce=0;//0.003; // this is because we will use a force on the central mass (not used in SPOT_BOUNCING_FACTOR)
+ pBlob->factorAbsorptionShock=0.9; // coef elastic bouncing
+
+ // add this relaxing loop to the present config:
+ blobArray.push_back(pBlob);
+
+ // update auxiliary variable numBlobs (just for easy reference):
+ numBlobs=blobArray.size();
+}
+void blobConfig::addOneRigidLoopBouncing(vector2Df initpos, vector2Df initspeed) {
+ rigidLoop* pBlob= new rigidLoop();
+ pBlob->createBlob(blobArray.size(), SPOT_BOUNCING_FACTOR, initpos, initspeed);
+ // add this relaxing loop to the present config:
+ blobArray.push_back(pBlob);
+
+ // update auxiliary variable numBlobs (just for easy reference):
+ numBlobs=blobArray.size();
+}
+
+void blobConfig::addOneRigidLoopPacman(vector2Df initpos, vector2Df initspeed) {
+ rigidLoop* pBlob= new rigidLoop();
+ pBlob->createBlob(blobArray.size(), SPOT_PACMAN, initpos, initspeed);
+ // add this relaxing loop to the present config:
+ blobArray.push_back(pBlob);
+
+ // update auxiliary variable numBlobs (just for easy reference):
+ numBlobs=blobArray.size();
+}
+void blobConfig::addOneRigidLoopGhost(vector2Df initpos, vector2Df initspeed) {
+ rigidLoop* pBlob= new rigidLoop();
+ pBlob->createBlob(blobArray.size(), SPOT_GHOST, initpos, initspeed);
+ // add this relaxing loop to the present config:
+ blobArray.push_back(pBlob);
+
+ // update auxiliary variable numBlobs (just for easy reference):
+ numBlobs=blobArray.size();
+}
+
+
+void blobConfig::addOneRigidLoopLorentz(vector2Df initpos, vector2Df initspeed) {
+ rigidLoop* pBlob= new rigidLoop();
+ pBlob->createBlob(blobArray.size(), SPOT_LORENTZ_FORCE, initpos, initspeed);
+ // add this loop to the present config:
+ blobArray.push_back(pBlob);
+
+ // update auxiliary variable numBlobs (just for easy reference):
+ numBlobs=blobArray.size();
+}
+
+void blobConfig::addOneRigidLoopAirHockey(vector2Df initpos, vector2Df initspeed) {
+ rigidLoop* pBlob= new rigidLoop();
+ pBlob->createBlob(blobArray.size(), SPOT_AIR_HOCKEY, initpos, initspeed);
+ // add this loop to the present config:
+ blobArray.push_back(pBlob);
+
+ // update auxiliary variable numBlobs (just for easy reference):
+ numBlobs=blobArray.size();
+}
+
+void blobConfig::addOneRigidLoopFollowing(vector2Df initpos, vector2Df initspeed) {
+ rigidLoop* pBlob= new rigidLoop();
+ pBlob->createBlob(blobArray.size(), SPOT_FOLLOWING, initpos, initspeed);
+ // add this relaxing loop to the present config:
+ blobArray.push_back(pBlob);
+
+ // random color for Tokyo Designer Week:
+ //randomizeAllColors();
+
+ // update auxiliary variable numBlobs (just for easy reference):
+ numBlobs=blobArray.size();
+}
+
+void blobConfig::addOneRigidLoopTest(vector2Df initpos, vector2Df initspeed) {
+ rigidLoop* pBlob= new rigidLoop();
+ pBlob->createBlob(blobArray.size(), SPOT_TEST, initpos, initspeed);
+ // add this relaxing loop to the present config:
+ blobArray.push_back(pBlob);
+
+ // update auxiliary variable numBlobs (just for easy reference):
+ numBlobs=blobArray.size();
+}
+
+void blobConfig::addOneRigidTrackingSpot(vector2Df initpos, vector2Df initspeed) {
+ rigidLoop* pBlob= new rigidLoop();
+ pBlob->createBlob(blobArray.size(), SPOT_TRACK, initpos, initspeed);
+ // add this relaxing loop to the present config:
+ blobArray.push_back(pBlob);
+
+ // update auxiliary variable numBlobs (just for easy reference):
+ numBlobs=blobArray.size();
+}
+
+void blobConfig::addOneRigidTrackingSpotDot(vector2Df initpos, vector2Df initspeed) {
+ rigidLoop* pBlob= new rigidLoop();
+ pBlob->createBlob(blobArray.size(), SPOT_TRACK_DOT, initpos, initspeed);
+ // add this relaxing loop to the present config:
+ blobArray.push_back(pBlob);
+
+ // update auxiliary variable numBlobs (just for easy reference):
+ numBlobs=blobArray.size();
+}
+// ==================================================================================================================================================
+void blobConfig::processSensedData() {
+ for (int i=0; i<blobArray.size(); i++) blobArray[i]->displaySensingBuffer.processSensedData(); // note: region with light is -1, and without is 2 (TO CHANGE!!! then we don't need to do "if" in the moment computation, but just a product)
+}
+
+void blobConfig::allKill() { // this put all the blobs in "dead" mode, meaning that neither rendering nor update is done (but they are not deleted).
+ for (int i=0; i<blobArray.size(); i++) {
+ blobArray[i]->render = false;
+ blobArray[i]->standByMode = false;
+ }
+}
+void blobConfig::allAlive() {
+ for (int i=0; i<blobArray.size(); i++) {
+ blobArray[i]->render = true;
+ blobArray[i]->standByMode = true;
+ }
+}
+
+void blobConfig::allStandBy() {
+ for (int i=0; i<blobArray.size(); i++) blobArray[i]->standByMode = true;
+}
+
+void blobConfig::allResume() {
+ for (int i=0; i<blobArray.size(); i++) blobArray[i]->standByMode = false;
+}
+
+void blobConfig::allVisible() {
+ for (int i=0; i<blobArray.size(); i++) blobArray[i]->render = true;
+}
+
+void blobConfig::allInvisible() { // note that they may continue to evolve
+ for (int i=0; i<blobArray.size(); i++) blobArray[i]->render = false;
+}
+
+void blobConfig::allSetColor(unsigned char c) {
+ for (int i=0; i<blobArray.size(); i++) blobArray[i]->setColor(c);
+ }
+
+ void blobConfig::allSetGreen(unsigned char c) {
+ for (int i=0; i<blobArray.size(); i++) blobArray[i]->setGreenColor(c);
+ }
+
+ void blobConfig::allSetBlue(unsigned char c) {
+ for (int i=0; i<blobArray.size(); i++) blobArray[i]->setBlueColor(c);
+ }
+
+ void blobConfig::randomizeAllColors() {
+ int c;
+ for (int i=0; i<blobArray.size(); i++) {
+ c= rand() % 2;
+ blobArray[i]->setBlueColor(c);
+ c= rand() % 2;
+ blobArray[i]->setGreenColor(c);
+ }
+ }
+
+void blobConfig::update() { // update dynamics of the blob configuration:
+int i;
+float minDist=5000, dist;
+bool win;
+ // Depending on the config type, perform some special test and updates:
+ switch(myConfigType) {
+ // simple behaviours:
+ case ONE_ELASTIC_FOLLOWING:
+ case ONE_ELASTIC_MOUTH:
+ case ONE_ELASTIC_MOUTH_SMALL:
+ case BOUNCING_SPOTS:
+ case LORENTZ_SPOTS:
+ case FOLLOWING_SPOTS:
+ case ONE_TRACKING_SPOT:
+ case AIR_HOCKEY_GAME:
+ // In all these simple cases, update dynamics of each blob independently:
+ for (i=0; i<blobArray.size(); i++) {
+ if (blobArray[i]->standByMode==false) blobArray[i]->update();
+ }
+ break;
+ // more game-like:
+ case CIRCULAR_PONG_GAME:
+ // spot index 0 is a tracking spot, the background "anchor":
+ if (blobArray[0]->standByMode==false) blobArray[0]->update();
+ // all the other spots are bouncing spots:
+ for (i=1; i<blobArray.size(); i++) {
+ if (blobArray[i]->standByMode==false) blobArray[i]->update();
+ }
+ // GAME CHECK: is some bouncing spot too far from the anchor? if so, make it "explode" (and then dissapear, but leave this for now):
+ for (i=1; i<blobArray.size(); i++) {
+ dist=(blobArray[0]->getCenter()).distance(blobArray[i]->getCenter());
+ if (dist>1000) {
+ blobArray[i]->explosion();
+ float anglaux=1.0*(i-1)/(blobArray.size()-1)*2*PI;
+ blobArray[i]->setPositionSpeed(vector2Df(CENTER_AD_MIRROR_X+200*cos(anglaux), CENTER_AD_MIRROR_Y+200*sin(anglaux)),
+ vector2Df(cos(anglaux),sin(anglaux))*10);
+ }
+ }
+ break;
+ case RAIN_MODE: // this is just spots with gravity that reapears in the top position when reaching the bottom:
+ // others are bouncing with gravity:
+ for (i=0; i<blobArray.size(); i++) {
+ if (blobArray[i]->standByMode==false) blobArray[i]->update();
+ }
+ // GAME CHECKS:
+ for (i=0; i<blobArray.size(); i++) {
+ if (blobArray[i]->getCenter().y>MAX_AD_MIRRORS-20) {
+ // Replace position of spot to the initial position:
+ blobArray[i]->explosion();
+ blobArray[i]->resetPositionSpeed();
+ }
+ }
+ break;
+ case VERTICAL_PINBALL_GAME:
+ // spot index 0 is a tracking spot, the background "anchor":
+ if (blobArray[0]->standByMode==false) blobArray[0]->update();
+ // others are bouncing with gravity:
+ for (i=1; i<blobArray.size(); i++) {
+ if (blobArray[i]->standByMode==false) blobArray[i]->update();
+ }
+ // GAME CHECKS:
+ for (i=1; i<blobArray.size(); i++) {
+ dist=(blobArray[0]->getCenter()).distance(blobArray[i]->getCenter());
+ //(1) win (meaning bouncing spot very close to anchor):
+ if (dist<60) {
+ blobArray[i]->explosion();
+ blobArray[i]->setPositionSpeed(vector2Df(blobArray[0]->getCenter().x-400+rand()%800, blobArray[0]->getCenter().y-1200),
+ vector2Df(0, 0));
+ }
+ //(2) loose (meaning spot went outside range):
+ if (blobArray[i]->getCenter().y>blobArray[0]->getCenter().y) {
+ blobArray[i]->setPositionSpeed(vector2Df(blobArray[0]->getCenter().x-400+rand()%800, blobArray[0]->getCenter().y-1200),
+ vector2Df(i*10-5, 0));
+ }
+ }
+ break;
+ case FISH_NET_GAME:
+ // spot index 0 is a tracking spot, the background "anchor":
+ if (blobArray[0]->standByMode==false) blobArray[0]->update();
+ // all the other spots are bouncing spots:
+ for (i=1; i<blobArray.size(); i++) {
+ if (blobArray[i]->standByMode==false) blobArray[i]->update();
+ }
+ // GAME CHECKS: a win only, when all the spots are very close to the mother spot:
+ win=true;
+ for (i=1; i<blobArray.size(); i++) {
+ dist=(blobArray[0]->getCenter()).distance(blobArray[i]->getCenter());
+ win&=(dist<80);
+ }
+ if (win) {
+ for (i=1; i<blobArray.size(); i++) {
+ blobArray[i]->explosion();
+ float anglaux=1.0*(i-1)/(blobArray.size()-1)*2*PI;
+ blobArray[i]->setPositionSpeed(vector2Df(CENTER_AD_MIRROR_X+400*cos(anglaux), CENTER_AD_MIRROR_Y+400*sin(anglaux)),
+ vector2Df(cos(anglaux),sin(anglaux))*10);
+ }
+ }
+ break;
+ case PAC_MAN_GAME:
+ // spot index 0 is the pacman:
+ if (blobArray[0]->standByMode==false) blobArray[0]->update();
+ // spot 1 and 2 are ghosts:
+ if (blobArray[1]->standByMode==false) blobArray[1]->update(blobArray[0]->getCenter());
+ if (blobArray[2]->standByMode==false) blobArray[2]->update(blobArray[0]->getCenter()); // pass the position of the PACMAN!
+
+ // GAME CHECK: are any ghost too close to the pacman?
+ for (i=1; i<blobArray.size(); i++) {
+ dist=(blobArray[0]->getCenter()).distance(blobArray[i]->getCenter());
+ if (minDist>dist) minDist=dist;
+ }
+ if (minDist<50) {
+ blobArray[0]->explosion();
+ // then restart the game:
+ // initConfig(PAC_MAN_GAME);
+ }
+
+ break;
+ default:
+ break;
+ }
+
+
+}
+
+void blobConfig::computeBoundingBox() {
+ for (int i=0; i<blobArray.size(); i++) {
+ blobArray[i]->computeBoundingBox();
+ }
+}
+
+void blobConfig::draw() { // draw uses the opengl like renderer (if any), and save projected trajectory in the LaserSensingTrajectory object of each blob
+ for (int i=0; i<blobArray.size(); i++) {
+ if (blobArray[i]->render==true) blobArray[i]->draw();
+ }
+}
+
+void blobConfig::sendConfData() {
+// For the time being, only "per blob" data sending:
+// (b) Per-spot sending of data (note: both are NOT exclusive; so if we want just packaged data, we need to make all the spot STOP sending data.
+ for (int i=0; i<blobArray.size(); i++) {
+ if (blobArray[i]->render==true) blobArray[i]->sendData(); // a blob that is in stand-by mode may send data (good for testing with a fixed loop)
+ }
+}
+
+
+
+