+++ /dev/null
-@use PhysicalControl.
-@use Shape.
-@use Stationary.
-@use Link.
-@use MultiBody.
-
-PhysicalControl : CeldasControl {
- % This class is used for building simple vehicle
- % simulations. To create a vehicle simulation,
- % subclass CeldasControl and use the init method to
- % create OBJECT(CeldasObstacle) and
- % OBJECT(CeldasVehicle) objects.
-
- + variables:
- floor (object).
- floorShape (object).
- cloudTexture (object).
-
- + to init:
- self enable-lighting.
- #self enable-smooth-drawing.
-
- floorShape = new Shape.
- floorShape init-with-cube size (200, .2, 200).
-
- floor = new Stationary.
- floor register with-shape floorShape at-location (0, 0, 0).
- #floor catch-shadows.
-
- self point-camera at (0, 0, 0) from (3, 3, 24).
-
- #self enable-shadows.
- #self enable-reflections.
-
- cloudTexture = (new Image load from "images/clouds.png").
- self set-background-color to (.4, .6, .9).
- self set-background-texture-image to cloudTexture.
-}
-
-MultiBody : CeldasLightVehicle (aka CeldasLightVehicles) {
- % This object is used in conjunction with OBJECT(CeldasControl) to
- % create simple vehicles.
-
- + variables:
- bodyShape (object).
- wheelShape (object).
- sensorShape (object).
- bodyLink (object).
-
- wheels (list).
- sensors (list).
-
- + to init:
- bodyShape = new Shape.
- bodyShape init-with-cube size (4.0, .75, 3.0).
-
- wheelShape = new Shape.
- wheelShape init-with-polygon-disk radius ( self get-wheel-radius ) sides 20 height ( self get-wheel-width ).
- # 40
-
- sensorShape = new Shape.
- sensorShape init-with-polygon-cone radius .2 sides 5 height .5.
- # 10
-
- bodyShape set-density to ( self get-density ).
- bodyLink = new Link.
- bodyLink set-shape to bodyShape.
- bodyLink set-mu to -1.0.
- bodyLink set-eT to .8.
-
- self set-root to bodyLink.
-
- self move to (0, 0.9, 0).
- self set-texture-scale to 1.5.
-
- - to get-density:
- return 1.0.
-
- - to get-wheel-width:
- return 0.1.
-
- - to get-wheel-radius:
- return 0.6.
-
- + section "Adding Wheels and Sensors to a Vehicle"
-
- + to add-wheel at location (vector):
- % Adds a wheel at location on the vehicle. This method returns
- % the wheel which is created, a OBJECT(CeldasWheel).
-
- wheel, joint (object).
-
- wheel = new CeldasWheel.
- wheel set-shape to wheelShape.
-
- joint = new RevoluteJoint.
-
- joint set-relative-rotation around-axis (1, 0, 0) by 1.5708.
- joint link parent bodyLink to-child wheel with-normal (0, 0, 1)
- with-parent-point location with-child-point (0, 0, 0).
-
- wheel set-eT to .8.
- wheel set-texture to 0.
- wheel set-joint to joint.
- joint set-strength-limit to (joint get-strength-hard-limit) / 2.
- wheel set-color to (.6, .6, .6).
- wheel set-mu to 100000.
-
- self add-dependency on joint.
- self add-dependency on wheel.
-
- push wheel onto wheels.
-
- return wheel.
-
- + to add-sensor at location (vector):
- % Adds a sensor at location on the vehicle. This method returns
- % the sensor which is created, a OBJECT(CeldasSensor).
-
- sensor, joint (object).
-
- sensor = new CeldasSensor.
- sensor set-shape to sensorShape.
-
- joint = new RevoluteJoint.
-
- joint set-relative-rotation around-axis (0, 0, 1) by -1.57.
- joint link parent bodyLink to-child sensor with-normal (1, 0, 0)
- with-parent-point location with-child-point (0, 0, 0).
-
- joint set-double-spring with-strength 300 with-max 0.01 with-min -0.01.
-
- self add-dependency on joint.
- self add-dependency on sensor.
-
- sensor set-color to (0, 0, 0).
-
- push sensor onto sensors.
-
- return sensor.
-
- + to destroy:
- free sensorShape.
- free wheelShape.
- free bodyShape.
-
- super destroy.
-}
-
-CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
- % A heavy duty version of OBJECT(CeldasLightVehicle), this
- % vehicle is heavier and harder to control, but more stable
- % at higher speeds.
-
- - to get-density:
- return 20.0.
-
- - to get-wheel-width:
- return 0.4.
-
- - to get-wheel-radius:
- return 0.8.
-}
-
-Stationary : CeldasObstacle (aka CeldasObstacles) {
- % A CeldasObstacle is used in conjunction with OBJECT(CeldasControl)
- % and OBJECT(CeldasVehicle). It is what the OBJECT(CeldasSensor)
- % objects on the CeldasVehicle detect.
- % <p>
- % There are no special behaviors associated with the walls--they're
- % basically just plain OBJECT(Stationary) objects.
-
- + to init with-size theSize = (10, 3, .1) (vector) with-color theColor = (1, 0, 0) (vector) at-location theLocation = (0, 0, 0) (vector) with-rotation theRotation = [ ( 0, 0, 1 ), ( 0, 1, 0 ), ( 1, 0, 0 ) ] (matrix):
- self init-with-shape shape (new Shape init-with-cube size theSize) color theColor at-location theLocation with-rotation theRotation.
-
- + to init-with-shape shape theShape (object) color theColor = (1, 0, 0) (vector) at-location theLocation = (0, 0, 0) (vector) with-rotation theRotation = [ ( 1, 0, 0 ), ( 0, 1, 0 ), ( 0, 0, 1 ) ] (matrix):
- self register with-shape theShape at-location theLocation with-rotation theRotation.
- self set-color to theColor.
-}
-
-Link : CeldasWheel (aka CeldasWheels) {
- % A CeldasWheel is used in conjunction with OBJECT(CeldasVehicle)
- % to build Celdas vehicles. This class is typically not instantiated
- % manually, since OBJECT(CeldasVehicle) creates one for you when you
- % add a wheel to the vehicle.
-
- + variables:
- joint (object).
-
- - to set-joint to j (object):
- % Used internally.
-
- joint = j.
-
- + section "Configuring the Wheel's Velocity"
-
- + to set-velocity to n (float):
- % Sets the velocity of this wheel.
-
- joint set-joint-velocity to n.
-
- + to get-velocity:
- % Gets the velocity of this wheel.
-
- return (joint get-joint-velocity).
-
-}
-
-Link : CeldasSensor (aka CeldasSensors) {
- % A CeldasSensor is used in conjunction with OBJECT(CeldasVehicle)
- % to build Celdas vehicles. This class is typically not instantiated
- % manually, since OBJECT(CeldasVehicle) creates one for you when you
- % add a sensor to the vehicle.
-
- + variables:
- direction (vector).
- sensorAngle (float).
- value (float).
-
- + to init:
- direction = (0, 1, 0).
- sensorAngle = 1.6.
- value = 0.0.
-
- + section "Configuring the Sensor Values"
-
- + to set-sensor-angle to n (float):
- % Sets the angle in which this sensor can detect obstacles. The default
- % value of 1.6 means that the sensor can see most of everything in
- % front of it. Setting the value to be any higher leads to general
- % wackiness, so I don't suggest it.
-
- sensorAngle = n.
-
- + section "Getting the Sensor Values"
-
- + to get-sensor-value:
- % Gets the sensor value. This should be used from post-iterate,
- % if not, the sensor reading correspond to the previous
- % iteration.
-
- return value.
-
- + to iterate:
- i (object).
- strength, angle (float).
- toObstacle, transDir (vector).
-
- transDir = (self get-rotation) * direction.
-
- value = 0.0.
-
- foreach i in (all CeldasObstacles): {
- toObstacle = (i get-location) - (self get-location).
- angle = angle(toObstacle, transDir).
-
- if angle < sensorAngle: {
- strength = | (self get-location) - (i get-location) |.
- strength = 100.0 / (strength * strength) .
-
- if strength > value: value = strength.
- }
- }
-
-}
+++ /dev/null
-@use PhysicalControl.
-@use Shape.
-@use Stationary.
-@use Link.
-@use MultiBody.
-
-PhysicalControl : CeldasControl {
- % This class is used for building simple vehicle
- % simulations. To create a vehicle simulation,
- % subclass CeldasControl and use the init method to
- % create OBJECT(CeldasObstacle) and
- % OBJECT(CeldasVehicle) objects.
-
- + variables:
- floor (object).
- floorShape (object).
- cloudTexture (object).
-
- + to init:
- self enable-lighting.
- #self enable-smooth-drawing.
-
- floorShape = new Shape.
- floorShape init-with-cube size (200, .2, 200).
-
- floor = new Stationary.
- floor register with-shape floorShape at-location (0, 0, 0).
- #floor catch-shadows.
-
- self point-camera at (0, 0, 0) from (3, 3, 24).
-
- #self enable-shadows.
- #self enable-reflections.
-
- cloudTexture = (new Image load from "images/clouds.png").
- self set-background-color to (.4, .6, .9).
- self set-background-texture-image to cloudTexture.
-}
-
-MultiBody : CeldasLightVehicle (aka CeldasLightVehicles) {
- % This object is used in conjunction with OBJECT(CeldasControl) to
- % create simple vehicles.
-
- + variables:
- bodyShape (object).
- wheelShape (object).
- sensorShape (object).
- bodyLink (object).
-
- + to init:
- bodyShape = new Shape.
- bodyShape init-with-cube size (4.0, .75, 3.0).
-
- wheelShape = new Shape.
- wheelShape init-with-polygon-disk radius ( self get-wheel-radius ) sides 20 height ( self get-wheel-width ).
- # 40
-
- sensorShape = new Shape.
- sensorShape init-with-polygon-cone radius .2 sides 5 height .5.
- # 10
-
- bodyShape set-density to ( self get-density ).
- bodyLink = new Link.
- bodyLink set-shape to bodyShape.
- bodyLink set-mu to -1.0.
- bodyLink set-eT to .8.
-
- self set-root to bodyLink.
-
- self move to (0, 0.9, 0).
- self set-texture-scale to 1.5.
-
- - to get-density:
- return 1.0.
-
- - to get-wheel-width:
- return 0.1.
-
- - to get-wheel-radius:
- return 0.6.
-
- + section "Adding Wheels and Sensors to a Vehicle"
-
- + to add-wheel at location (vector):
- % Adds a wheel at location on the vehicle. This method returns
- % the wheel which is created, a OBJECT(CeldasWheel).
-
- wheel, joint (object).
-
- wheel = new CeldasWheel.
- wheel set-shape to wheelShape.
-
- joint = new RevoluteJoint.
-
- joint set-relative-rotation around-axis (1, 0, 0) by 1.5708.
- joint link parent bodyLink to-child wheel with-normal (0, 0, 1)
- with-parent-point location with-child-point (0, 0, 0).
-
- wheel set-eT to .8.
- wheel set-texture to 0.
- wheel set-joint to joint.
- joint set-strength-limit to (joint get-strength-hard-limit) / 2.
- wheel set-color to (.6, .6, .6).
- wheel set-mu to 100000.
-
- self add-dependency on joint.
- self add-dependency on wheel.
-
- return wheel.
-
- + to add-sensor at location (vector) with-rotation angle = -1.57 (float)
- arround-axis axis = (0, 0, 1) (vector)
- with-normal normal = (1, 0, 0) (vector):
- % Adds a sensor at location on the vehicle. This method returns
- % the sensor which is created, a OBJECT(CeldasSensor).
-
- sensor, joint (object).
-
- sensor = new CeldasSensor.
- sensor set-shape to sensorShape.
-
- joint = new RevoluteJoint.
-
- joint set-relative-rotation around-axis axis by angle.
- joint link parent bodyLink to-child sensor with-normal normal
- with-parent-point location with-child-point (0, 0, 0).
-
- joint set-double-spring with-strength 300 with-max 0.01 with-min -0.01.
-
- self add-dependency on joint.
- self add-dependency on sensor.
-
- sensor set-color to (0, 0, 0).
-
- return sensor.
-
- + to destroy:
- free sensorShape.
- free wheelShape.
- free bodyShape.
-
- super destroy.
-}
-
-CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
- % A heavy duty version of OBJECT(CeldasLightVehicle), this
- % vehicle is heavier and harder to control, but more stable
- % at higher speeds.
-
- - to get-density:
- return 20.0.
-
- - to get-wheel-width:
- return 0.4.
-
- - to get-wheel-radius:
- return 0.8.
-}
-
-Stationary : CeldasObstacle (aka CeldasObstacles) {
- % A CeldasObstacle is used in conjunction with OBJECT(CeldasControl)
- % and OBJECT(CeldasVehicle). It is what the OBJECT(CeldasSensor)
- % objects on the CeldasVehicle detect.
- % <p>
- % There are no special behaviors associated with the walls--they're
- % basically just plain OBJECT(Stationary) objects.
-
- + to init with-size theSize = (10, 3, .1) (vector) with-color theColor = (1, 0, 0) (vector) at-location theLocation = (0, 0, 0) (vector) with-rotation theRotation = [ ( 0, 0, 1 ), ( 0, 1, 0 ), ( 1, 0, 0 ) ] (matrix):
- self init-with-shape shape (new Shape init-with-cube size theSize) color theColor at-location theLocation with-rotation theRotation.
-
- + to init-with-shape shape theShape (object) color theColor = (1, 0, 0) (vector) at-location theLocation = (0, 0, 0) (vector) with-rotation theRotation = [ ( 1, 0, 0 ), ( 0, 1, 0 ), ( 0, 0, 1 ) ] (matrix):
- self register with-shape theShape at-location theLocation with-rotation theRotation.
- self set-color to theColor.
-}
-
-Link : CeldasWheel (aka CeldasWheels) {
- % A CeldasWheel is used in conjunction with OBJECT(CeldasVehicle)
- % to build Celdas vehicles. This class is typically not instantiated
- % manually, since OBJECT(CeldasVehicle) creates one for you when you
- % add a wheel to the vehicle.
-
- + variables:
- joint (object).
-
- - to set-joint to j (object):
- % Used internally.
-
- joint = j.
-
- + section "Configuring the Wheel's Velocity"
-
- + to set-velocity to n (float):
- % Sets the velocity of this wheel.
-
- joint set-joint-velocity to n.
-
- + to get-velocity:
- % Gets the velocity of this wheel.
-
- return (joint get-joint-velocity).
-
-}
-
-Link : CeldasSensor (aka CeldasSensors) {
- % A CeldasSensor is used in conjunction with OBJECT(CeldasVehicle)
- % to build Celdas vehicles. This class is typically not instantiated
- % manually, since OBJECT(CeldasVehicle) creates one for you when you
- % add a sensor to the vehicle.
-
- + variables:
- direction (vector).
- sensorAngle (float).
- value (float).
-
- + to init with-direction theDirection = (0, 1, 0) (vector)
- with-angle theAngle = 1.6 (float):
- direction = theDirection.
- sensorAngle = theAngle.
- value = 0.0.
-
- + section "Configuring the Sensor Values"
-
- + to set-sensor-angle to n (float):
- % Sets the angle in which this sensor can detect obstacles. The default
- % value of 1.6 means that the sensor can see most of everything in
- % front of it. Setting the value to be any higher leads to general
- % wackiness, so I don't suggest it.
-
- sensorAngle = n.
-
- + section "Getting the Sensor Values"
-
- + to get-sensor-value:
- % Gets the sensor value. This should be used from post-iterate,
- % if not, the sensor reading correspond to the previous
- % iteration.
-
- return value.
-
- + to iterate:
- i (object).
- strength, angle (float).
- toObstacle, transDir (vector).
-
- transDir = (self get-rotation) * direction.
-
- value = 0.0.
-
- foreach i in (all CeldasObstacles): {
- toObstacle = (i get-location) - (self get-location).
- angle = angle(toObstacle, transDir).
-
- print "angle: $angle -- sensorAngle = $sensorAngle".
- if angle < sensorAngle: {
- strength = | (self get-location) - (i get-location) |.
- strength = 100.0 / (strength * strength) .
-
- if strength > value: value = strength.
- }
- }
-
-}
+++ /dev/null
-
-@use Celdas.
-
-Controller DemoController.
-
-CeldasControl : DemoController {
- + variables:
- sensor (object).
- blWheel, brWheel (object).
- vehicle (object).
-
- n (int).
-
- + to init:
- for n=0, n<10, n++:
- new CeldasObstacle init at-location (20 * sin(n * 6.28 / 10), 1, 20 * cos(n * 6.28 / 10)).
-
- vehicle = new CeldasVehicle.
- self watch item vehicle.
-
- vehicle move to (10, 0.8, 5).
-
- blWheel = (vehicle add-wheel at (0, 0, -1.5)).
- brWheel = (vehicle add-wheel at (0, 0, 1.5)).
-
- self set-global-velocity to 15.0.
-
- sensor = (vehicle add-sensor at (2.0, .4, 0)).
-
- + to set-global-velocity to velocity (float):
-
- brWheel set-velocity to velocity.
- blWheel set-velocity to velocity.
-
- + to get-global-velocity:
-
- return ((brWheel get-velocity)
- + (blWheel get-velocity)) / 2.
-
- + to turn-right with-velocity velocity (float):
-
- brWheel set-velocity to velocity.
- blWheel set-velocity to -velocity.
-
- + to turn-left with-velocity velocity (float):
-
- blWheel set-velocity to velocity.
- brWheel set-velocity to -velocity.
-
- + to get-sensor-value:
-
- return (sensor get-sensor-value).
-
-
- + to post-iterate:
- value (float).
- bl, br (float).
-
- value = self get-sensor-value.
-
- if value < 1: self set-global-velocity to ((self get-global-velocity) + 1).
- else if value > 5: self turn-right with-velocity 15.0.
- #else if value > 10: self set-global-velocity to ((self get-global-velocity) - 1).
-
- bl = (blWheel get-velocity).
- br = (brWheel get-velocity).
- print "sensor: $value, br: $br, bl: $bl".
-
-}
+++ /dev/null
-
-@use Celdas.
-
-Controller DemoController.
-
-CeldasControl : DemoController {
- + variables:
- sensor (object).
- flWheel, frWheel, blWheel, brWheel (object).
- vehicle (object).
-
- n (int).
-
- + to init:
- for n=0, n<10, n++:
- new CeldasObstacle init at-location (20 * sin(n * 6.28 / 10), 1, 20 * cos(n * 6.28 / 10)).
-
- vehicle = new CeldasVehicle.
- self watch item vehicle.
-
- vehicle move to (10, 0.8, 5).
-
- flWheel = (vehicle add-wheel at (2, 0, -1.5)).
- frWheel = (vehicle add-wheel at (2, 0, 1.5)).
- blWheel = (vehicle add-wheel at (-2, 0, -1.5)).
- brWheel = (vehicle add-wheel at (-2, 0, 1.5)).
-
- self set-global-velocity to 15.0.
-
- sensor = (vehicle add-sensor at (2.0, .4, 0)).
-
- + to set-global-velocity to velocity (float):
-
- brWheel set-velocity to velocity.
- frWheel set-velocity to velocity.
- blWheel set-velocity to velocity.
- flWheel set-velocity to velocity.
-
- + to get-global-velocity:
-
- return ((brWheel get-velocity) + (frWheel get-velocity)
- + (blWheel get-velocity) + (flWheel set-velocity)) / 4.
-
- + to turn-right with-velocity velocity (float):
-
- brWheel set-velocity to velocity.
- frWheel set-velocity to velocity.
- blWheel set-velocity to -velocity.
- flWheel set-velocity to -velocity.
-
- + to turn-left with-velocity velocity (float):
-
- blWheel set-velocity to velocity.
- flWheel set-velocity to velocity.
- brWheel set-velocity to -velocity.
- frWheel set-velocity to -velocity.
-
- + to get-sensor-value:
-
- return (sensor get-sensor-value).
-
-
- + to post-iterate:
- value (float).
- fl, fr, bl, br (float).
-
- value = self get-sensor-value.
-
- if value < 1: self set-global-velocity to ((self get-global-velocity) + 1).
- else if value > 5: self turn-right with-velocity 15.0.
- #else if value > 10: self set-global-velocity to ((self get-global-velocity) - 1).
-
- fl = (flWheel get-velocity).
- bl = (blWheel get-velocity).
- fr = (frWheel get-velocity).
- br = (brWheel get-velocity).
- print "sensor: $value, fr: $fr, fl: $fl, br: $br, bl: $bl".
-
-}
+++ /dev/null
-
-@use CeldasMultiSensor.
-
-Controller DemoController.
-
-CeldasControl : DemoController {
- + variables:
- leftWheel, rightWheel (object).
- leftSensor, rightSensor (object).
- vehicle (object).
-
- n (int).
-
- + to init:
- for n=0, n<10, n++:
- new CeldasObstacle init at-location (20 * sin(n * 6.28 / 10), 1, 20 * cos(n * 6.28 / 10)).
-
- vehicle = new CeldasVehicle.
- self watch item vehicle.
-
- vehicle move to (10, 2, 5).
-
- leftWheel = (vehicle add-wheel at (-2, 0, -1.5)).
- rightWheel = (vehicle add-wheel at (-2, 0, 1.5)).
- vehicle add-wheel at (1, 0, 0).
-
- leftWheel set-velocity to 15.0.
- rightWheel set-velocity to 15.0.
-
- leftSensor = (vehicle add-sensor at (2.0, .4, 0)).
- rightSensor = (vehicle add-sensor at (2.0, .4, 0)).
-
- + to post-iterate:
- valueL, valueR (float).
-
- valueL = leftSensor get-sensor-value.
- valueR = rightSensor get-sensor-value.
-
- if valueL < 2: leftWheel set-velocity to ((leftWheel get-velocity) + 1).
- else: leftWheel set-velocity to ((leftWheel get-velocity) - 1).
-
- if valueL < 2: rightWheel set-velocity to ((rightWheel get-velocity) + 1).
- else: rightWheel set-velocity to ((rightWheel get-velocity) - 1).
-
- print "leftSensor = $valueL -- rightSensor = $valueR".
-
-}
+++ /dev/null
-
-@use Celdas.
-
-Controller DemoController.
-
-CeldasVehicle : MyVehicle {
-
- + variables:
- sensor (object).
- flWheel, frWheel, blWheel, brWheel (object).
-
- + to init at location = (0, 0, 0) (vector):
-
- self move to location.
-
- blWheel = (self add-wheel at (2, 0, -1.5)).
- brWheel = (self add-wheel at (2, 0, 1.5)).
- blWheel = (self add-wheel at (-2, 0, -1.5)).
- brWheel = (self add-wheel at (-2, 0, 1.5)).
-
- #blWheel set-velocity to 15.0.
- #brWheel set-velocity to 15.0.
-
- sensor = (self add-sensor at (2.0, .4, 0)).
-
- + to set-global-velocity to velocity (float):
-
- brWheel set-velocity to velocity.
- frWheel set-velocity to velocity.
- blWheel set-velocity to velocity.
- flWheel set-velocity to velocity.
-
- + to get-global-velocity:
-
- return ((brWheel get-velocity) + (frWheel get-velocity)
- + (blWheel get-velocity) + (flWheel set-velocity)) / 4.
-
- + to turn-right with-velocity velocity (float):
-
- brWheel set-velocity to velocity.
- frWheel set-velocity to velocity.
- blWheel set-velocity to -velocity.
- flWheel set-velocity to -velocity.
-
- + to turn-left with-velocity velocity (float):
-
- blWheel set-velocity to velocity.
- flWheel set-velocity to velocity.
- brWheel set-velocity to -velocity.
- frWheel set-velocity to -velocity.
-
- + to get-sensor-value:
-
- return (sensor get-sensor-value).
-
-}
-
-CeldasControl : DemoController {
- + variables:
- vehicle (object).
-
- n (int).
-
- + to init:
- for n=0, n<10, n++:
- new CeldasObstacle init at-location (20 * sin(n * 6.28 / 10), 1, 20 * cos(n * 6.28 / 10)).
-
- vehicle = new MyVehicle.
- self watch item vehicle.
-
- + to post-iterate:
- value (float).
-
- value = vehicle get-sensor-value.
-
- if value < 1: vehicle set-global-velocity to ((vehicle get-global-velocity) + 1).
- else if value > 10: vehicle set-global-velocity to ((vehicle get-global-velocity) - 1).
-
- print value.
-
-}
+++ /dev/null
-
-@use Celdas.
-
-Controller DemoController.
-
-CeldasControl : DemoController {
- + variables:
- sensor (object).
- leftWheel, rightWheel (object).
- vehicle (object).
-
- n (int).
-
- + to init:
- for n=0, n<10, n++:
- new CeldasObstacle init at-location (20 * sin(n * 6.28 / 10), 1, 20 * cos(n * 6.28 / 10)).
-
- vehicle = new CeldasVehicle.
- self watch item vehicle.
-
- vehicle move to (10, 2, 5).
-
- leftWheel = (vehicle add-wheel at (-2, 0, -1.5)).
- rightWheel = (vehicle add-wheel at (-2, 0, 1.5)).
- vehicle add-wheel at (1, 0, 0).
-
- leftWheel set-velocity to 15.0.
- rightWheel set-velocity to 15.0.
-
- sensor = (vehicle add-sensor at (2.0, .4, 0)).
-
- + to post-iterate:
- value (float).
-
- value = sensor get-sensor-value.
-
- if value < 1: {
- leftWheel set-velocity to ((leftWheel get-velocity) + 15).
- rightWheel set-velocity to ((rightWheel get-velocity) + 15).
- } else if value > 10: {
- leftWheel set-velocity to ((leftWheel get-velocity) - 15).
- rightWheel set-velocity to ((rightWheel get-velocity) - 15).
- }
-
- print value.
-
-}
+++ /dev/null
-@use Control.
-@use Stationary.
-@use Celdas.
-
-@define altoPared 5.
-@define posYPared 25.
-@define seccion 20.
-@define distanciaTotalX 240.
-@define distanciaTotalZ 240.
-
-Controller myControl.
-
-
-CeldasObstacle : Wall{
-
- +to Create to-posX posX = 0 (float) to-posY posY = 2.5 (float) to-posZ posZ = 0 (float) to-widthX widthX = 120(float) to-widthZ widthZ = 5(float):
-
- self register with-shape (new Cube init-with size (widthX,altoPared,widthZ)) at-location (posX,posY,posZ).
- self set-color to (0,1,0).
-
-}
-
-
-CeldasObstacle : Labyrinth{
-
- +to init:
- wall (object).
-
- wall=new Wall.
-
- #Contorno del laberinto
- wall Create to-widthX 11.25*seccion.
- wall Create to-posX -5.5*seccion to-widthX 5 to-widthZ 11.25*seccion to-posZ 5.5*seccion .
- wall Create to-posX -5.5*seccion to-widthX 5 to-widthZ 11.25*seccion to-posZ 5.5*seccion to-posX 5.5*seccion .
-
- wall Create to-widthX 5.25*seccion to-posZ 11*seccion to-posX -3*seccion.
- wall Create to-widthX 5.25*seccion to-posZ 11*seccion to-posX 3*seccion.
- #fin contorno
-
- #Paredesd verticales (en el diagrama)
- wall Create to-widthZ seccion to-widthX 5 to-posZ 10.5*seccion to-posX 0.5*seccion.
- wall Create to-widthZ 2*seccion to-widthX 5 to-posZ 10*seccion to-posX -1.5*seccion.
- wall Create to-widthZ seccion to-widthX 5 to-posZ 10.5*seccion to-posX -3.5*seccion.
-
- wall Create to-widthZ 2*seccion to-widthX 5 to-posZ 9*seccion to-posX -0.5*seccion.
- wall Create to-widthZ seccion to-widthX 5 to-posZ 9.5*seccion to-posX -4.5*seccion.
- wall Create to-widthZ 3*seccion to-widthX 5 to-posZ 8.5*seccion to-posX -2.5*seccion.
- wall Create to-widthZ 3*seccion to-widthX 5 to-posZ 8.5*seccion to-posX 3.5*seccion.
-
- wall Create to-widthZ 5*seccion to-widthX 5 to-posZ 5.5*seccion to-posX -4.5*seccion.
- wall Create to-widthZ 6*seccion to-widthX 5 to-posZ 4*seccion to-posX -3.5*seccion.
- wall Create to-widthZ 3*seccion to-widthX 5 to-posZ 4.5*seccion to-posX -2.5*seccion.
- wall Create to-widthZ 3*seccion to-widthX 5 to-posZ 5.5*seccion to-posX -1.5*seccion.
-
- wall Create to-widthZ seccion to-widthX 5 to-posZ 2.5*seccion to-posX 0.5*seccion.
- wall Create to-widthZ seccion to-widthX 5 to-posZ 1.5*seccion to-posX 1.5*seccion.
- wall Create to-widthZ seccion to-widthX 5 to-posZ 4.5*seccion to-posX 1.5*seccion.
- wall Create to-widthZ seccion to-widthX 5 to-posZ 6.5*seccion to-posX 1.5*seccion.
-
- wall Create to-widthZ seccion to-widthX 5 to-posZ 2.5*seccion to-posX -1.5*seccion.
- wall Create to-widthZ seccion to-widthX 5 to-posZ 1.5*seccion to-posX -2.5*seccion.
- wall Create to-widthZ seccion to-widthX 5 to-posZ 3.5*seccion to-posX -0.5*seccion.
-
- wall Create to-widthZ seccion to-widthX 5 to-posZ 3.5*seccion to-posX 2.5*seccion.
- wall Create to-widthZ 2*seccion to-widthX 5 to-posZ 7*seccion to-posX 2.5*seccion.
- wall Create to-widthZ seccion to-widthX 5 to-posZ 4.5*seccion to-posX 3.5*seccion.
-
- wall Create to-widthZ 6*seccion to-widthX 5 to-posZ 6*seccion to-posX 4.5*seccion.
-
- #Paredes horizontales (en el diagrama)
- wall Create to-widthZ 5 to-widthX 2.25*seccion to-posZ 10*seccion to-posX 1.5*seccion. #1
- wall Create to-widthZ 5 to-widthX 2.25*seccion to-posZ 10*seccion to-posX 4.5*seccion. #2
-
- wall Create to-widthZ 5 to-widthX 2.25*seccion to-posZ 9*seccion to-posX -3.5*seccion. #3
- wall Create to-widthZ 5 to-widthX 1.25*seccion to-posZ 8*seccion to-posX -4*seccion. #4
- wall Create to-widthZ 5 to-widthX 5.25*seccion to-posZ 8*seccion to-posX 0. #5
-
- wall Create to-widthZ 5 to-widthX 3*seccion to-posZ 9*seccion to-posX 2*seccion. #6
-
- wall Create to-widthZ 5 to-widthX 1.25*seccion to-posZ 7*seccion to-posX -3*seccion. #7
- wall Create to-widthZ 5 to-widthX 3.25*seccion to-posZ 7*seccion to-posX 0. #8
- wall Create to-widthZ 5 to-widthX 2.25*seccion to-posZ 6*seccion to-posX 3.5*seccion. #9
- wall Create to-widthZ 5 to-widthX 1.25*seccion to-posZ 6*seccion to-posX -2*seccion. #10
-
- wall Create to-widthZ 5 to-widthX 3.25*seccion to-posZ 4*seccion to-posX 0. #11
- wall Create to-widthZ 5 to-widthX 2.25*seccion to-posZ 5*seccion to-posX 2.5*seccion. #12
-
- wall Create to-widthZ 5 to-widthX 1.25*seccion to-posZ 3*seccion to-posX -4*seccion. #13
- wall Create to-widthZ 5 to-widthX 1.25*seccion to-posZ 3*seccion to-posX -2*seccion. #14
- wall Create to-widthZ 5 to-widthX 4.25*seccion to-posZ 3*seccion to-posX 2.5*seccion. #15
- #wall Create to-widthZ 5 to-widthX 4*seccion to-posZ 3*seccion to-posX 2.5*seccion. #15
-
- wall Create to-widthZ 5 to-widthX seccion to-posZ 2*seccion to-posX -5*seccion. #16
- wall Create to-widthZ 5 to-widthX 2.25*seccion to-posZ 2*seccion to-posX -0.5*seccion. #17
- wall Create to-widthZ 5 to-widthX 4.25*seccion to-posZ 2*seccion to-posX 3.5*seccion. #18
-
- wall Create to-widthZ 5 to-widthX 9*seccion to-posZ 1*seccion to-posX 0. #19
-
- #push wall onto walls.
-}
-
-
-Control: myControl{
-+ variables:
- labe(object).
- sensor (object).
- leftWheel, rightWheel (object).
- vehicle (object).
-
-+ to init:
- self point-camera at (0,0,0) from (200,200,200).
- new Floor.
-
- labe = new Labyrinth.
- vehicle = new CeldasVehicle.
- self watch item vehicle.
-
- vehicle move to (0, 0, 10).
-
- leftWheel = (vehicle add-wheel at (-2, 0, -1.5)).
- rightWheel = (vehicle add-wheel at (-2, 0, 1.5)).
- vehicle add-wheel at (1, 0, 0).
-
- leftWheel set-velocity to 50.0.
- rightWheel set-velocity to 50.0.
-
- sensor = (vehicle add-sensor at (2.0, .4, 0)).
-
-
-+to iterate:
- super iterate.
-
-+ to post-iterate:
- value (float).
-
- value = sensor get-sensor-value.
-
- if value < 2: {
- leftWheel set-velocity to ((leftWheel get-velocity) + 1).
- rightWheel set-velocity to ((rightWheel get-velocity) + 1).
- }
-
- if value > 2: {
- leftWheel set-velocity to ((leftWheel get-velocity) - 1).
- rightWheel set-velocity to ((rightWheel get-velocity) - 1).
- }
-
- #print value.
-
-}
-
projects / z.facultad / 75.68 / celdas.git / commitdiff