@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));
}
// Walls are simply added to environment since they do not need updating
private void createWalls() {
int environmentWidth = config.getEnvironmentWidth();
int environmentHeight = config.getEnvironmentHeight();
// Left
Double2D pos = new Double2D(0, environmentHeight / 2.0);
Double2D v1 = new Double2D(0, -pos.y);
Double2D v2 = new Double2D(0, pos.y);
WallObject wall = new WallObject(physicsWorld, pos, v1, v2);
drawProxy.registerDrawable(wall.getPortrayal());
// Right
pos = new Double2D(environmentWidth, environmentHeight / 2.0);
wall = new WallObject(physicsWorld, pos, v1, v2);
drawProxy.registerDrawable(wall.getPortrayal());
// Top
pos = new Double2D(environmentWidth / 2.0, 0);
v1 = new Double2D(-pos.x, 0);
v2 = new Double2D(pos.x, 0);
wall = new WallObject(physicsWorld, pos, v1, v2);
drawProxy.registerDrawable(wall.getPortrayal());
// Bottom
pos = new Double2D(environmentWidth / 2.0, environmentHeight);
wall = new WallObject(physicsWorld, pos, v1, v2);
drawProxy.registerDrawable(wall.getPortrayal());
}
public Simulation(SimConfig config, RobotFactory robotFactory) {
super(config.getSimulationSeed());
this.config = config;
this.robotFactory = robotFactory;
Settings.velocityThreshold = VELOCITY_THRESHOLD;
}
private double getRobotAvgPolygonArea() {
Set<PhysicalObject> objects = placementArea.getPlacedObjects();
double totalArea = 0.0;
for (PhysicalObject object : objects) {
if (object instanceof RobotObject) {
totalArea += ((RobotObject) object).getAverageCoveragePolgygonArea();
}
}
return totalArea / config.getObjectsRobots();
}
/** Gets the progress of the simulation as a percentage */
public double getProgressFraction() {
return (double) schedule.getSteps() / config.getSimulationIterations();
}
public boolean allResourcesCollected() {
return config.getResourceFactory().getNumberOfResources()
== targetArea.getNumberOfContainedResources();
}
/** Run the simulation for the number of iterations specified in the config. */
public void run() {
final int iterations = config.getSimulationIterations();
runForNIterations(iterations);
}
@Override
public void setSeed(long seed) {
super.setSeed(seed);
config.setSimulationSeed(seed);
}
// create target area
private void createTargetArea() {
int environmentWidth = config.getEnvironmentWidth();
int environmentHeight = config.getEnvironmentHeight();
final int width, height;
final Vec2 position;
if (config.getTargetAreaPlacement() == SimConfig.Direction.SOUTH) {
width = environmentWidth;
height = config.getTargetAreaThickness();
position = new Vec2(width / 2f, height / 2f);
} else if (config.getTargetAreaPlacement() == SimConfig.Direction.NORTH) {
width = environmentWidth;
height = config.getTargetAreaThickness();
position = new Vec2(environmentWidth - width / 2f, environmentHeight - height / 2f);
} else if (config.getTargetAreaPlacement() == SimConfig.Direction.EAST) {
width = config.getTargetAreaThickness();
height = environmentHeight;
position = new Vec2(environmentWidth - width / 2f, height / 2f);
} else if (config.getTargetAreaPlacement() == SimConfig.Direction.WEST) {
width = config.getTargetAreaThickness();
height = environmentHeight;
position = new Vec2(width / 2f, height / 2f);
} else {
return; // Don't know where to place this target area
}
targetArea =
new TargetAreaObject(
physicsWorld,
position,
width,
height,
config.getResourceFactory().getTotalResourceValue(),
config.getSimulationIterations());
// Add target area to placement area (trust that space returned since nothing else placed
// yet).
PlacementArea.Space space = placementArea.getRectangularSpace(width, height, position, 0f);
placementArea.placeObject(space, targetArea);
}