// 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());
}
@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));
}