public SimplePendulumSimulation() {
SimplePendulumRobot robot = new SimplePendulumRobot();
robot.setController(new SimplePendulumController(robot));
SimulationConstructionSetParameters parameters = new SimulationConstructionSetParameters();
parameters.setDataBufferSize(32000);
sim = new SimulationConstructionSet(robot, parameters);
sim.setDT(DT, 20);
sim.setGroundVisible(true);
sim.setCameraPosition(0, -9.0, 0.6);
sim.setCameraFix(0.0, 0.0, 0.70);
sim.setSimulateDuration(60.0); // sets the simulation duration to 60 seconds
Thread myThread = new Thread(sim);
myThread.start();
}
/* Print out the various spectra on SCS. */
public static void main(String[] args) {
// A spectrum size larger than 32 tests color interpolation.
int spectrumSize = 100;
double cubeSize = 0.03;
double cubeY = 0.3; // 0.5; for reverse maps
SimulationConstructionSetParameters parameters = new SimulationConstructionSetParameters();
parameters.setDataBufferSize(32000);
SimulationConstructionSet scs = new SimulationConstructionSet(new Robot("NullBot"), parameters);
// Print all maps and print their reverse maps.
boolean reverseMap = true;
// for (int i = 0; i <= 1; i++)
{
reverseMap = !reverseMap;
// jet
cubeY -= 3 * cubeSize;
ColorSpectrum spectrum = ColorSpectrum.jetColors(spectrumSize, reverseMap);
printSpectrum(spectrum, cubeY, cubeSize, scs);
// jet2
cubeY -= 3 * cubeSize;
spectrum = ColorSpectrum.jet2Colors(spectrumSize, reverseMap);
printSpectrum(spectrum, cubeY, cubeSize, scs);
// hsv
cubeY -= 3 * cubeSize;
spectrum = ColorSpectrum.hsvColors(spectrumSize, reverseMap);
printSpectrum(spectrum, cubeY, cubeSize, scs);
// bone
cubeY -= 3 * cubeSize;
spectrum = ColorSpectrum.boneColors(spectrumSize, reverseMap);
printSpectrum(spectrum, cubeY, cubeSize, scs);
// copper
cubeY -= 3 * cubeSize;
spectrum = ColorSpectrum.copperColors(spectrumSize, reverseMap);
printSpectrum(spectrum, cubeY, cubeSize, scs);
// hot
cubeY -= 3 * cubeSize;
spectrum = ColorSpectrum.hotColors(spectrumSize, reverseMap);
printSpectrum(spectrum, cubeY, cubeSize, scs);
// cool
cubeY -= 3 * cubeSize;
spectrum = ColorSpectrum.coolColors(spectrumSize, reverseMap);
printSpectrum(spectrum, cubeY, cubeSize, scs);
// gray
cubeY -= 3 * cubeSize;
spectrum = ColorSpectrum.grayColors(spectrumSize, reverseMap);
printSpectrum(spectrum, cubeY, cubeSize, scs);
}
Thread thread = new Thread(scs);
thread.start();
}