@Override
public void setup(Simulator simulator) {
super.setup(simulator);
AquaticDrone drone = (AquaticDrone) simulator.getRobots().get(0);
double x = 0, y = 0;
drone.setPosition(x, y);
drone.setOrientation(simulator.getRandom().nextDouble() * Math.PI * 2);
Waypoint wp = new Waypoint("wp." + drone.getName(), CoordinateUtilities.cartesianToGPS(x, y));
drone.getEntities().add(wp);
drone.setActiveWaypoint(wp);
LightPole lp = new LightPole(simulator, "wp." + drone.getName(), x, y, 5);
addObject(lp);
}
@Override
public void setup(Simulator simulator) {
super.setup(simulator);
if (randomSize) {
// 1.5 - 2.5
width = random.nextDouble() + 1.5;
// 0.8 - 1
height = random.nextDouble() + 0.8;
}
for (int i = 0; i < numberOfPreys; i++)
addPrey(new Prey(simulator, "Prey_" + i, newRandomPosition(), 0, PREY_MASS, PREY_RADIUS));
// Parede do mapa
walls.add(
new Wall(
simulator,
"topWall",
0,
height / 2,
Math.PI,
1,
1,
0,
width,
0.05,
PhysicalObjectType.WALL));
walls.add(
new Wall(
simulator,
"bottomWall",
0,
-height / 2,
Math.PI,
1,
1,
0,
width,
0.05,
PhysicalObjectType.WALL));
walls.add(
new Wall(
simulator,
"leftWall",
-width / 2,
0,
Math.PI,
1,
1,
0,
0.05,
height,
PhysicalObjectType.WALL));
walls.add(
new Wall(
simulator,
"rightWall",
width / 2,
0,
Math.PI,
1,
1,
0,
0.05,
height,
PhysicalObjectType.WALL));
for (Wall wall : walls) addObject(wall);
for (Robot r : getRobots()) {
r.setOrientation(random.nextDouble() * (2 * Math.PI));
double max = 1;
if (getRobots().size() > 1) placeMultipleRobots(r, max);
else r.setPosition(random.nextDouble() * max - max / 2, random.nextDouble() * max - max / 2);
}
CameraTracker tracker = new CameraTracker(simulator, lag, orientationError);
simulator.addCallback(tracker);
}