/*
* Simbad - Robot Simulator Copyright (C) 2004 Louis Hugues
*
* This program is free software; you can redistribute it and/or modify it under
* the terms of the GNU General Public License as published by the Free Software
* Foundation; either version 2 of the License, or (at your option) any later
* version.
*
* This program 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
* this program; if not, write to the Free Software Foundation, Inc., 59 Temple
* Place, Suite 330, Boston, MA 02111-1307 USA
*
* -----------------------------------------------------------------------------
* $Author: sioulseuguh $
* $Date: 2005/08/07 12:24:56 $
* $Revision: 1.4 $
* $Source: /cvsroot/simbad/src/simbad/demo/BumpersDemo.java,v $
*/
package simbad.demo;
import javax.vecmath.Vector3d;
import javax.vecmath.Color3f;
import javax.vecmath.Vector3f;
import simbad.sim.Agent;
import simbad.sim.Box;
import simbad.sim.RangeSensorBelt;
import simbad.sim.RobotFactory;
/** A Bumping demo.
*/
public class BumpersDemo extends Demo {
public class Robot extends Agent {
RangeSensorBelt bumpers;
int backcount;
public Robot(Vector3d position, String name) {
super(position, name);
// Add sensors
bumpers = RobotFactory.addBumperBeltSensor(this,16);
backcount=0;
}
/** Initialize Agent's Behavior */
public void initBehavior() {
// nothing particular in this case
}
int max(int a,int b){
if (a> b) return a; else return b;
}
/** Perform one step of Agent's Behavior */
public void performBehavior() {
backcount--;
if (backcount <= 0) {
if (collisionDetected()){
setTranslationalVelocity( (0.5 - Math.random()));
setRotationalVelocity( (0.5 - Math.random()));
backcount = 20;
}
else if (bumpers.oneHasHit()) {
int front =bumpers.getFrontQuadrantHits() ;
int left = bumpers.getLeftQuadrantHits() ;
int right = bumpers.getRightQuadrantHits() ;
int back = bumpers.getBackQuadrantHits();
int m = max (max(front,back),max(left,right));
double r =0,t=0;
if (front == m){
r=1.5-Math.random()*3 ; t = -0.5;
} else if (left == m){
r=-1 ; t = 0;
} else if (right == m){
r=1 ; t = 0;
} else if (back == m){
r=1.5-Math.random()*3 ; t = 0.5;
}
setRotationalVelocity(r);
setTranslationalVelocity(t);
backcount = 20;
} else if ((getCounter() % 10) == 0) {
setRotationalVelocity(Math.PI / 2 * (0.5 - Math.random()));
setTranslationalVelocity(0.5);
}
}
}
}
public BumpersDemo() {
setWorldSize(12);
boxColor = new Color3f(0.6f,0.5f,.3f);
add(new Box(new Vector3d(-5,0,0),new Vector3f(0.1f,1,10),this));
add(new Box(new Vector3d(0,0,-5),new Vector3f(10,1,0.1f),this));
add(new Box(new Vector3d(5,0,0),new Vector3f(0.1f,1,10),this));
add(new Box(new Vector3d(0,0,5),new Vector3f(10,1,0.1f),this));
add(new Box(new Vector3d(2,0,2),new Vector3f(2,1,3),this));
add(new Box(new Vector3d(-2,0,-2),new Vector3f(3,1,2),this));
add(new Robot(new Vector3d(4, 0, 4), "bump1"));
add(new Robot(new Vector3d(4, 0, -4), "bump2"));
add(new Robot(new Vector3d(-4, 0, 4), "bump3"));
add(new Robot(new Vector3d(-4, 0, -4), "bump4"));
}
}