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f966206486
commit
d7d7ff308f
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@ -0,0 +1,174 @@
|
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// Description of robot(s), and attached sensor(s) used by InstantiateRobot()
|
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class Sensor {
|
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constructor(id, props) {
|
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Object.assign(this, {
|
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id,
|
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parent: null,
|
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lookAngle:0,
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attachRadius: simInfo.robotSize,
|
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value: null,
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valueStr: "<uninit>",
|
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minVal: 0,
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maxVal: 50
|
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}, props)
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this.info = this
|
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this.setAngle(this.attachAngle)
|
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}
|
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setAngle(attachAngle) {
|
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this.attachAngle = attachAngle
|
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Object.assign(this, Vec2.fromPolar(Vec2.zero, this.attachRadius, this.attachAngle))
|
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}
|
||||
plotSensor(context, x = this.x, y = this.y) {
|
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context.beginPath();
|
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context.arc(x, y, this.getWidth()/2, 0, 2*Math.PI);
|
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context.closePath();
|
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context.fillStyle = 'black';
|
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context.strokeStyle = this.color ? convrgb(this.color) : 'black';
|
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context.fill();
|
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context.stroke();
|
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}
|
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onDragging(sensor, event) {
|
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const {x, y} = sim.bay.transformMouse(event.mouse),
|
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mAngle = Math.atan2(y, x),
|
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mRadius = Math.sqrt(x*x + y*y);
|
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this.attachRadius = mRadius
|
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this.setAngle(mAngle)
|
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sim.bay.repaint()
|
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}
|
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getWidth() { return 2 }
|
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getHeight() { return 2 }
|
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mouseHit(x, y) {
|
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const mouse = sim.bay.transformMouse({x,y})
|
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return Vec2.distLess(this, mouse, this.getWidth()/2 + 1)
|
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}
|
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};
|
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class DistanceSensor extends Sensor {
|
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rayCast() {
|
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/* Distance sensor simulation based on ray casting. Called from sensor
|
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* object, returns nothing, updates a new reading into this.value.
|
||||
*
|
||||
* Idea: Cast a ray with a certain length from the sensor, and check
|
||||
* via collision detection if objects intersect with the ray.
|
||||
* To determine distance, run a Binary search on ray length.
|
||||
* Note: Sensor ray needs to ignore robot (parts), or start outside of it.
|
||||
* The latter is easy with the current circular shape of the robots.
|
||||
* Note: Order of tests are optimized by starting with max ray length, and
|
||||
* then only testing the maximal number of initially resulting objects.
|
||||
* Note: The sensor's "ray" could have any other (convex) shape;
|
||||
* currently it's just a very thin rectangle.
|
||||
*/
|
||||
|
||||
var bodies = Matter.Composite.allBodies(sim.engine.world);
|
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if (this.filter) bodies = bodies.filter(this.filter)
|
||||
|
||||
const robotAngle = this.parent.body.angle,
|
||||
rayAngle = robotAngle + this.attachAngle + this.lookAngle;
|
||||
|
||||
const rPos = this.parent.body.position,
|
||||
rSize = this.attachRadius,
|
||||
startPoint = Vec2.fromPolar(rPos, this.attachRadius, robotAngle+this.attachAngle)
|
||||
|
||||
function getEndpoint(rayLength) {
|
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return Vec2.fromPolar(startPoint, rayLength, rayAngle)
|
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};
|
||||
|
||||
function sensorRay(bodies, rayLength) {
|
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// Cast ray of supplied length and return the bodies that collide with it.
|
||||
const rayWidth = 1e-100,
|
||||
ray = Vec2.avg(startPoint, getEndpoint(rayLength)),
|
||||
rayRect = Matter.Bodies.rectangle(ray.x, ray.y, rayLength, rayWidth,
|
||||
{isSensor: true, isStatic: true,
|
||||
angle: rayAngle, role: 'sensor'});
|
||||
|
||||
return bodies.filter(body => {
|
||||
// coarse check on body boundaries, to increase performance:
|
||||
return Matter.Bounds.overlaps(body.bounds, rayRect.bounds) &&
|
||||
body.parts.some((part, pp) => {
|
||||
// skip the first part, if it's not the only one
|
||||
if (pp == 0 && body.parts.length > 1) return false
|
||||
// finer, more costly check on actual geometry:
|
||||
if (Matter.Bounds.overlaps(part.bounds, rayRect.bounds)) {
|
||||
const collision = Matter.SAT.collides(part, rayRect);
|
||||
if (collision.collided) {
|
||||
return true
|
||||
}
|
||||
}
|
||||
})
|
||||
})
|
||||
};
|
||||
|
||||
// call 1x with full length, and check all bodies in the world;
|
||||
// in subsequent calls, only check the bodies resulting here
|
||||
var rayLength = this.maxVal;
|
||||
bodies = sensorRay(bodies, rayLength);
|
||||
function binarySearch(lo, hi, cond) {
|
||||
let x = hi
|
||||
while (lo < x) {
|
||||
if (cond(x)) {
|
||||
hi = x
|
||||
} else {
|
||||
lo = x
|
||||
}
|
||||
x = Math.floor(lo + (hi-lo)/2)
|
||||
}
|
||||
return x
|
||||
}
|
||||
// if some collided, search for maximal ray length without collisions
|
||||
if (bodies.length > 0) {
|
||||
rayLength = binarySearch(0, rayLength, len => sensorRay(bodies, len).length > 0)
|
||||
}
|
||||
// increase length to (barely) touch closest body (if any)
|
||||
rayLength += 1;
|
||||
bodies = sensorRay(bodies, rayLength);
|
||||
return [bodies, rayLength, startPoint, getEndpoint(rayLength)]
|
||||
}
|
||||
sense() {
|
||||
const context = document.getElementById('arenaLemming').getContext('2d');
|
||||
const [bodies, rayLength, startPoint, endPoint] = this.rayCast()
|
||||
if (simInfo.debugSensors) { // if invisible, check order of object drawing
|
||||
// draw the resulting ray
|
||||
context.strokeStyle = convrgb(this.parent.info.color)
|
||||
context.lineWidth = 0.5;
|
||||
drawVertices(context, [startPoint, endPoint])
|
||||
// mark all objects's lines intersecting with the ray
|
||||
bodies.forEach(({vertices}) => drawVertices(context, vertices))
|
||||
}
|
||||
let rl
|
||||
|
||||
// indicate if the sensor exceeded its maximum length by returning infinity
|
||||
if (rayLength > this.maxVal) {
|
||||
rl = Infinity;
|
||||
}
|
||||
else {
|
||||
rl = Math.floor(rayLength + gaussNoise(3));
|
||||
rl = Matter.Common.clamp(rl, this.minVal, this.maxVal);
|
||||
}
|
||||
|
||||
this.value = rl;
|
||||
this.valueStr = padnumber(this.value, 2);
|
||||
}
|
||||
}
|
||||
function clamp(x, min, max) {
|
||||
return x < min ? min : x > max ? max : x
|
||||
}
|
||||
class ColorSensor extends DistanceSensor {
|
||||
sense() {
|
||||
const [bodies, rayLength] = this.rayCast()
|
||||
let color
|
||||
if (bodies.length) {
|
||||
color = bodies[0].color.map(x => clamp(x + gaussNoise(), 0, 255))
|
||||
} else {
|
||||
color = [255,255,255]
|
||||
}
|
||||
this.value = color
|
||||
this.valueStr = `</span><span style="color: ${convrgb(color)}">` +
|
||||
color.map(x => format(x)).join(', ')
|
||||
}
|
||||
}
|
||||
class Gyroscope extends Sensor {
|
||||
sense() {
|
||||
this.value = (this.parent.body.angle * (180/Math.PI) + gaussNoise()) % 360
|
||||
this.valueStr = format(this.value) + '°'
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,41 @@
|
||||
"use strict"
|
||||
const Vec2 = {
|
||||
add({x:x1, y:y1}, {x:x2, y:y2}) {
|
||||
return Object.freeze({x:x1+x2, y:y1+y2})
|
||||
},
|
||||
avg({x:x1, y:y1}, {x:x2, y:y2}) {
|
||||
return Object.freeze({x:(x1+x2)/2, y:(y1+y2)/2})
|
||||
},
|
||||
fromPolar({x,y}, radius, angle) {
|
||||
return Object.freeze({x: x + radius * Math.cos(angle),
|
||||
y: y + radius * Math.sin(angle)})
|
||||
},
|
||||
sub({x:x1, y:y1}, {x:x2, y:y2}) {
|
||||
return Object.freeze({x:x1-x2, y: y1-y2})
|
||||
},
|
||||
distLess(a, b, radius) {
|
||||
const {x, y} = Vec2.sub(a, b)
|
||||
return ((x*x) + (y*y)) < (radius * radius)
|
||||
},
|
||||
zero: Object.freeze({x:0, y:0})
|
||||
};
|
||||
|
||||
function drawVertices(context, vertices, draw=true, close=true) {
|
||||
if (draw) context.beginPath();
|
||||
context.moveTo(vertices[0].x, vertices[0].y);
|
||||
vertices.slice(1).forEach(({x, y}) =>
|
||||
context.lineTo(x, y))
|
||||
if (close) context.lineTo(vertices[0].x, vertices[0].y);
|
||||
if (draw) context.stroke();
|
||||
}
|
||||
|
||||
function convrgb(values) {
|
||||
return 'rgb(' + values.map(x=>x|0).join(', ') + ')';
|
||||
};
|
||||
|
||||
// apply mild noise on the sensor reading, and clamp between valid values
|
||||
function gaussNoise(sigma=1) {
|
||||
const x0 = 1.0 - Math.random();
|
||||
const x1 = 1.0 - Math.random();
|
||||
return sigma * Math.sqrt(-2 * Math.log(x0)) * Math.cos(2 * Math.PI * x1);
|
||||
};
|
||||
Loading…
Reference in New Issue