-@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.
- }
- }
-
-}
projects / z.facultad / 75.68 / celdas.git / commitdiff