/*
* File name: ODESchedPrimitive.java (package eas.users.fabian.ODEVersuche)
* Author(s): Fabian
* Java version: 6.0
* Generation date: 26.01.2012 (16:00:12)
*
* (c) This file and the EAS (Easy Agent Simulation) framework containing it
* is protected by Creative Commons by-nc-sa license. Any altered or
* further developed versions of this file have to meet the agreements
* stated by the license conditions.
*
* In a nutshell
* -------------
* You are free:
* - to Share -- to copy, distribute and transmit the work
* - to Remix -- to adapt the work
*
* Under the following conditions:
* - Attribution -- You must attribute the work in the manner specified by the
* author or licensor (but not in any way that suggests that they endorse
* you or your use of the work).
* - Noncommercial -- You may not use this work for commercial purposes.
* - Share Alike -- If you alter, transform, or build upon this work, you may
* distribute the resulting work only under the same or a similar license to
* this one.
*
* + Detailed license conditions (Germany):
* http://creativecommons.org/licenses/by-nc-sa/3.0/de/
* + Detailed license conditions (unported):
* http://creativecommons.org/licenses/by-nc-sa/3.0/deed.en
*
* This header must be placed in the beginning of any version of this file.
*/
package eas.users.students.fabian.curling;
import java.util.LinkedList;
import java.util.List;
import org.ode4j.math.DVector3;
import eas.plugins.masterScheduler.AbstractDefaultMaster;
import eas.plugins.standard.visualization.visualization3D.VideoPluginLWJGL;
import eas.simulation.ConstantsSimulation;
import eas.simulation.Wink;
import eas.simulation.event.EASEvent;
import eas.startSetup.ParCollection;
import eas.startSetup.SingleParameter;
/**
* @author Fabian
*
*/
public class CurlingScheduler extends AbstractDefaultMaster<CurlingEnv> {
/**
*
*/
private static final long serialVersionUID = -155526395934700907L;
private double shortestDistance = 10000;
private double distance;
/*
* (non-Javadoc)
*
* @see eas.plugins.Plugin#getRequiredPlugins()
*/
@Override
public List<String> getRequiredPlugins() {
return null;
}
/*
* (non-Javadoc)
*
* @see eas.plugins.Plugin#getParameters()
*/
@Override
public List<SingleParameter> getParameters() {
return super.getParameters();
}
/*
* (non-Javadoc)
*
* @see eas.plugins.Plugin#id()
*/
@Override
public String id() {
return ConstantsSimulation.DEFAULT_MASTER_SCHEDULER_ID
+ "-fr.curling";
}
/*
* (non-Javadoc)
*
* @see eas.plugins.Plugin#runBeforeSim(eas.simulation.environment.
* AbstractEnvironment, eas.startSetup.ParCollection)
*/
@Override
public void runBeforeSimulation(CurlingEnv env, ParCollection params) {
env.setMu(0.001);
DVector3 position = new DVector3(0,40,5);
BumperAgent bumper = new BumperAgent(0, env, params, position);
env.addAgent(bumper);
position = new DVector3(0,33,5);
PuckAgent puck = new PuckAgent(1, env, params, position);
env.addAgent(puck);
float[] xyz = new float[] {0,-6,6};
float[] hpr = new float[] {90,-30,0};
VideoPluginLWJGL.dsSetViewpoint(xyz, hpr);
}
/*
* (non-Javadoc)
*
* @see
* eas.plugins.Plugin#runAfterSim(eas.simulation.environment.AbstractEnvironment
* , eas.startSetup.ParCollection)
*/
@Override
public void runAfterSimulation(CurlingEnv env, ParCollection params) {
// env.tearDownEnvironment();
}
/*
* (non-Javadoc)
*
* @see eas.plugins.Plugin#runDuringSim(eas.simulation.environment.
* AbstractEnvironment, eas.simulation.Wink, eas.startSetup.ParCollection)
*/
@Override
public void runDuringSimulation(CurlingEnv env, Wink currentSimTime,
ParCollection params) {
env.step(currentSimTime);
if (currentSimTime.getLastTick() == 1) {
for (int i = 0; i < 2; i++) {
System.out.println();
}
System.out.println("Use the arrow keys to steer the puck... Have fun!");
env.getAgent(0).getBody(0).addForce(new DVector3(0, -5000, 0));
env.getAgent(0).getBody(0).addTorque(0, 0, Math.random()*50);
}
distance = 0;
distance += env.getAgent(1).getBody(0).getPosition().get0() * env.getAgent(1).getBody(0).getPosition().get0();
distance += env.getAgent(1).getBody(0).getPosition().get1() * env.getAgent(1).getBody(0).getPosition().get1();
distance = Math.sqrt(distance);
distance = ((int)(distance*100))/100.;
if (distance < shortestDistance) {
shortestDistance = distance;
}
if (currentSimTime.getLastTick() % 200 == 199) {
System.out.println ("Distance: " + distance + " m.");
}
if (currentSimTime.getLastTick() > 1000 && env.getAgent(1).getBody(0).getLinearVel().length() < 0.01) {
System.out.println("Game over: " + distance + ".\nThe minimum distance to the center was " + shortestDistance + " meters!");
if (distance == shortestDistance) {
System.out.println("Well done!");
}
else {
System.out.println("Hrmpf! You should have stopped earlier...");
}
currentSimTime.getSimTime().timeTerminate();
}
}
/*
* (non-Javadoc)
*
* @see eas.plugins.Plugin#handleEvent(eas.simulation.event.EASEvent,
* eas.simulation.environment.AbstractEnvironment, eas.simulation.Wink,
* eas.startSetup.ParCollection)
*/
@Override
public void handleEvent(EASEvent e, CurlingEnv env, Wink lastSimTime,
ParCollection params) {
}
/*
* (non-Javadoc)
*
* @see
* eas.simulation.masterScheduler.MasterScheduler#generateEnvironments(eas
* .startSetup.ParCollection)
*/
@Override
public CurlingEnv[] generateRunnables(ParCollection params) {
CurlingEnv env = new CurlingEnv(0, params);
return new CurlingEnv[] { env };
}
/* (non-Javadoc)
* @see eas.plugins.Plugin#getSupportedPlugins()
*/
@Override
public List<String> getSupportedPlugins() {
LinkedList<String> list = new LinkedList<String>();
list.add(new VideoPluginLWJGL().id());
return list;
}
}