@Override
public void start() {
super.start();
par = originalPar.clone();
par.shepherdLinearSpeed +=
par.shepherdLinearSpeed * par.actuatorOffset * (random.nextDouble() * 2 - 1);
par.shepherdTurnSpeed +=
par.shepherdTurnSpeed * par.actuatorOffset * (random.nextDouble() * 2 - 1);
par.shepherdSensorRange +=
par.shepherdSensorRange * par.sensorOffset * (random.nextDouble() * 2 - 1);
// Static environment
fence =
new StaticPolygon(
new Segment(0, 0, par.arenaSize, 0),
new Segment(par.arenaSize, 0, par.arenaSize, par.arenaSize / 2 - par.gateSize / 2),
new Segment(
par.arenaSize, par.arenaSize / 2 + par.gateSize / 2, par.arenaSize, par.arenaSize),
new Segment(par.arenaSize, par.arenaSize, 0, par.arenaSize));
fence.paint = Color.BLACK;
openSide = new StaticPolygon(new Segment(0, 0, 0, par.arenaSize));
openSide.paint = Color.RED;
curral =
new StaticPolygon(
new Segment(
par.arenaSize,
par.arenaSize / 2 - par.gateSize / 2,
par.arenaSize,
par.arenaSize / 2 + par.gateSize / 2));
curral.paint = Color.BLUE;
this.field = new Continuous2D(par.discretization, par.arenaSize, par.arenaSize);
placeSheeps();
placeFoxes();
placeShepherds();
field.setObjectLocation(fence, new Double2D(0, 0));
field.setObjectLocation(openSide, new Double2D(0, 0));
field.setObjectLocation(curral, new Double2D(0, 0));
this.td =
new TaskDescription(
new GenericDistanceFunction(field),
new EntityGroup(shepherds, shepherds.size(), shepherds.size(), false),
new EntityGroup(activeSheeps, 0, sheeps.size(), false),
new EntityGroup(foxes, foxes.size(), foxes.size(), false),
new EntityGroup(Collections.singletonList(fence), 1, 1, true),
new EntityGroup(Collections.singletonList(openSide), 1, 1, true),
new EntityGroup(Collections.singletonList(curral), 1, 1, true));
}
@Override
public void start() {
super.start();
environment =
new Continuous2D(1.0, config.getEnvironmentWidth(), config.getEnvironmentHeight());
drawProxy = new DrawProxy(environment.getWidth(), environment.getHeight());
environment.setObjectLocation(drawProxy, new Double2D());
physicsWorld = new World(new Vec2());
placementArea =
new PlacementArea((float) environment.getWidth(), (float) environment.getHeight());
placementArea.setSeed(config.getSimulationSeed());
schedule.reset();
System.gc();
physicsWorld.setContactListener(contactListener);
// Create ALL the objects
createWalls();
createTargetArea();
robotFactory.placeInstances(
placementArea.new ForType<>(), physicsWorld, config.getTargetAreaPlacement());
config.getResourceFactory().placeInstances(placementArea.new ForType<>(), physicsWorld);
// Now actually add the objects that have been placed to the world and schedule
for (PhysicalObject object : placementArea.getPlacedObjects()) {
drawProxy.registerDrawable(object.getPortrayal());
schedule.scheduleRepeating(object);
}
schedule.scheduleRepeating(
simState -> physicsWorld.step(TIME_STEP, VELOCITY_ITERATIONS, POSITION_ITERATIONS));
}
/** Implements simulation initialization */
public void start() {
// Start the simulation
super.start();
// Clear the field of food and robots
field.clear();
// Reset the scores
score[0] = score[1] = 0;
// Add our team of robots to the field and activate them
Team team = new Team(field, false, strategy);
schedule.scheduleRepeating(team);
// Add the opposing team of robots to the field and activate them
Team opposingTeam = new Team(field, true, baselineStrategy);
schedule.scheduleRepeating(opposingTeam);
// Add some randomly distributed food to the field
for (int t = 0; t < nTreats; t++) {
// Select a random but empty location
Double2D treatLocation;
do {
treatLocation =
new Double2D(
field.getWidth() * (random.nextDouble() * 0.8 + 0.1),
field.getHeight() * (random.nextDouble() * 0.8 + 0.1));
} while (field.getObjectsWithinDistance(treatLocation, Treat.treatSize).size() > 0);
Treat treat = new Treat();
field.setObjectLocation(treat, treatLocation);
}
}
public void start() {
super.start();
// clear the yard
yard.clear();
// clear the buddies
buddies.clear();
// add some students to the yard
for (int i = 0; i < numStudents; i++) {
Student student = new Student();
yard.setObjectLocation(
student,
new Double2D(
yard.getWidth() * 0.5 + random.nextDouble() - 0.5,
yard.getHeight() * 0.5 + random.nextDouble() - 0.5));
buddies.addNode(student);
schedule.scheduleRepeating(student);
}
// define like/dislike relationships
Bag students = buddies.getAllNodes();
for (int i = 0; i < students.size(); i++) {
Object student = students.get(i);
// who does he like?
Object studentB = null;
do {
studentB = students.get(random.nextInt(students.numObjs));
} while (student == studentB);
double buddiness = random.nextDouble();
buddies.addEdge(student, studentB, new Double(buddiness));
// who does he dislike?
do {
studentB = students.get(random.nextInt(students.numObjs));
} while (student == studentB);
buddiness = random.nextDouble();
buddies.addEdge(student, studentB, new Double(-buddiness));
}
}