public static Car createCar(Pose pose, Physics ph)
{
// рожаем машину
Car car;
var p = new CarParams();
p.InitDefault();
p.h = 2.5f;
p.h_base = 2f;
car = new Car(p, 0);
car.Create(ph, pose);
return car;
}
private void Form1_Load(object sender, EventArgs e)
{
//инциализируем отрисовку и физику
gh = new GraphicsHelper(pictureBox1);
ghover = new GraphicsHelper(pictureBoxOverlay);
ph = new Physics();
Vec2 target = new Vec2(75F, 6f); //Координаты конечной точки
// рожаем машину
var p = new CarParams();
p.InitDefault(); //Задает машине параметры по умолчанию
p.h = 2.5f; //Поправляем форму машинки
p.h_base = 2f;
var ps = new Pose() { xc = 5, yc = 15, angle_rad = 30 * Helper.angle_to_rad }; //Задаем начальное положение машины
car = new Car(p, 0);
car.Create(ph, ps);
//создание агента и среды
carAgent = new LICStreeAgent(ps,target);
pictureBox2.Image = new Bitmap(pictureBox2.Width, pictureBox2.Height);
env = new Environment(ph, car, target,pictureBox2);
//создание объектов среды
//ВАЖНО!!! -- в каком порядке объекты создаются, в таком они и отрисовываются, поэтому в первую очередь создаются объекты заднего плана.
//занятно...-- НЕсамообучающийся по картинке агент ооочень туго переваривает динамические препятствия. Хотя, всё же, переваривает.
env.CreateRectZone(new Pose { xc = 30f, yc = 23f, angle_rad = 45 * k_PI }, new Vec2(15f, 25f), 2f);
env.CreateRectZone(new Pose { xc = 70f, yc = 20f, angle_rad = 45 * k_PI }, new Vec2(10f, 5f), 3f);
env.CreateWall( new Pose { xc = 25f, yc = 17f, angle_rad = 20 * k_PI },new Vec2(2f, 10f));
env.CreateWall(new Pose { xc = 20f, yc = 35f, angle_rad = 35 * k_PI }, new Vec2(10f, 10f));
env.CreateWall(new Pose { xc = 40f, yc = 10f, angle_rad = 35 * k_PI }, new Vec2(40f, 1f));
env.CreateWall( new Pose { xc = 55f, yc = 30f, angle_rad = 100 * k_PI },new Vec2(2f, 10f));
env.CreateWall(new Pose { xc = 65f, yc = 45f, angle_rad = 0 * k_PI }, new Vec2(15f, 15f));
env.CreateWall(new Pose { xc = 25f, yc = 25f, angle_rad = -195 * k_PI }, new Vec2(20f, 1f));
env.CreateWall(new Pose { xc = 50f, yc = 20f, angle_rad = 105 * k_PI }, new Vec2(2f, 7f));
env.CreateWall(new Pose { xc = 58f, yc = 18f, angle_rad = 45 * k_PI }, new Vec2(10f, 5f));
env.CreateWall(new Pose { xc = pictureBox1.Width/20f, yc = pictureBox1.Height/10f, angle_rad = 90 * k_PI }, new Vec2(1f, 10000f));
env.CreateWall(new Pose { xc = pictureBox1.Width / 20f, yc = 0/10f, angle_rad = 90 * k_PI }, new Vec2(1f, 10000f));
env.CreateWall(new Pose { xc = pictureBox1.Width / 10f, yc = pictureBox1.Height / 20f, angle_rad = 0 * k_PI }, new Vec2(1f, 10000f));
env.CreateWall(new Pose { xc = 0/10f, yc = pictureBox1.Height / 20f, angle_rad = 0 * k_PI }, new Vec2(1f, 10000f));
//env.CreateCircle(new Pose { xc = 25f, yc = 20f, angle_rad = -10 * k_PI }, 3, 10);
//env.CreateFire(new Pose { xc = 0f, yc = 0f, angle_rad = -10 * k_PI },5);
}
public Car(Physics ph,CarParams p,Pose pose)
{
this.p = p;
car_angle0 = Helper.GetRelAngle(new Vec2(1, 0), forwardVec);
body = ph.CreateBox(new Pose { xc = pose.xc, yc = pose.yc }, new Box2DX.Common.Vec2 { X = p.w, Y = p.h }, new BodyBehaviour { isDynamic = true, k = 0.98f * p.mass });
bodyFW1 = ph.CreateBox(new Pose { xc = pose.xc, yc = pose.yc + p.h_base / 2 }, new Box2DX.Common.Vec2 { X = p.w / 10, Y = p.h / 10 }, new BodyBehaviour { isDynamic = true, k = 0.01f * p.mass });
bodyBW1 = ph.CreateBox(new Pose { xc = pose.xc, yc = pose.yc + -p.h_base / 2 }, new Box2DX.Common.Vec2 { X = p.w / 10, Y = p.h / 10 }, new BodyBehaviour { isDynamic = true, k = 0.01f * p.mass });
var jFW1def = new RevoluteJointDef();
jFW1def.Initialize(body, bodyFW1, bodyFW1.GetWorldCenter());
jFW1def.EnableMotor = true;
jFW1def.MaxMotorTorque = 1000;
jFW1def.EnableLimit = true;
jFW1def.LowerAngle = -p.max_steer_angle * Helper.angle_to_rad;
jFW1def.UpperAngle = p.max_steer_angle * Helper.angle_to_rad;
jFW1 = (RevoluteJoint)ph.world.CreateJoint(jFW1def);
var jBW1def = new PrismaticJointDef();
jBW1def.Initialize(body, bodyBW1, bodyBW1.GetWorldCenter(), new Vec2(1, 0));
jBW1def.EnableLimit = true;
jBW1def.UpperTranslation = jBW1def.LowerTranslation = 0;
jBW1 = (PrismaticJoint)ph.world.CreateJoint(jBW1def);
//LidarParams lp = new LidarParams() { dir_deg = 0, d0 = 2.2f, dist = 20, fov_deg = 60, x0 = 0, y0 = 0, num_rays = 20 };
var p1 = new LidarParams();
p1.InitDefault();
p1.d0 = p.h / 2 + 0.2f;
InitLidar(p1);
body.SetAngle(pose.angle_rad);
//rcs = new RCS(this);
}
public bool saveToFile(string name, bool reWrite = true)
{
if (name == "")
return false;
System.IO.DirectoryInfo dir = new System.IO.DirectoryInfo(@"saves\" + name);
if (dir.Exists)
{
if (reWrite)
try { dir.Delete(true); }
catch (Exception e) { return false; }
else
return false;
}
dir.Create();
System.Xml.Serialization.XmlSerializer roboser = new System.Xml.Serialization.XmlSerializer(typeof(carCfg));
System.IO.StreamWriter writer;
int digitsCount = agents.Count.ToString().Length;
int id = 0;
foreach(var keyValue in agents)
{
var agent = keyValue.Value;
var ids = id.ToString();
while (ids.Length < digitsCount) ids = "0" + ids;
writer = System.IO.File.CreateText(@"saves\" + name + @"\robot"+ids+".cfg");
Pose pos = new Pose { };
Vec2 target = new Vec2();
CarParams cparams = new CarParams();
if (env.robotsDict.ContainsKey(agent))
{
cparams = env.robotsDict[agent].p;
pos = env.robotsDict[agent].pos;
target = env.targetsDict[agent];
}
string groupID = "";
if (typeOfAgent(agent) == "LICS forest car agent with transfer")
groupID = (agent as EvoForestUnitAgent).groupID;
roboser.Serialize(writer, new carCfg { p = pos, target = target, agentName = keyValue.Key, agentType =typeOfAgent(agent), agentGroup =groupID, cpars = cparams });
writer.Close();
id++;
}
System.Xml.Serialization.XmlSerializer ser = new System.Xml.Serialization.XmlSerializer(typeof(objInfo));
int i = 0;
digitsCount = env.objInfos.Count.ToString().Length;
foreach (objInfo obj in env.objInfos)
{
var ids = i.ToString();
while (ids.Length < digitsCount) ids = "0" + ids;
i++;
writer = System.IO.File.CreateText(@"saves\" + name + @"\object" + ids + ".inf");
ser.Serialize(writer, obj);
writer.Close();
}
return true;
}
public Car createCar(Pose pose, CarParams pars)
{
// рожаем машину
Car car = new Car(pars, 0);
car.Create(ph, pose);
return car;
}
public Car createCar(Pose pose)
{
var pars = new CarParams();
pars.InitDefault();
pars.h = 2.5f;
pars.h_base = 2f;
return createCar(pose, pars);
}
