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initial rewrite

master
Yorick van Pelt 2017-11-27 03:05:27 +01:00
parent f966206486
commit d7d7ff308f
12 changed files with 1066 additions and 636 deletions
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5
LemmingSim.html
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@ -20,12 +20,13 @@ along with this program. If not, see <http://www.gnu.org/licenses/>.
<head>
<meta http-equiv="content-type" content="text/html; charset=UTF-8">
<title>Lemmings</title>
<script language="JavaScript" src="pathseg.js"></script>
<script language="JavaScript" src="mouse.js"></script>
<script language="JavaScript" src="graphics.js"></script>
<script language="JavaScript" src="utils.js"></script>
<script language="JavaScript" src="sensors.js"></script>
<script language="JavaScript" src="lemming_sim_student.js"></script>
<script language="JavaScript" src="matter.js"></script>
<script language="JavaScript" src="jquery-1.11.0.min.js"></script>
<script language="JavaScript" src="pathseg.js"></script>
<script language="JavaScript" src="decomp.js"></script>
</head>
<body onload="init();">

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1027
lemming_sim_student.js
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File diff suppressed because it is too large Load Diff

14
mouse.js
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@ -58,17 +58,15 @@ function addMouseTracker(elem) {
this.mouse.hasFocus = false;
});
elem.addInteractiveElement = function(obj) {
if (!obj.mouseHit) obj.mouseHit = mouseHit
this.mouse.interactiveElements.push(obj);
};
}
function mouseHit(x, y) {
return (x < this.x + this.getWidth() && x > this.x &&
y < this.y + this.getHeight() && y > this.y)
}
function findElement(x, y) {
for (var i = this.mouse.interactiveElements.length - 1; i >= 0; --i) {
if (x < this.mouse.interactiveElements[i].x + this.mouse.interactiveElements[i].getWidth() && x > this.mouse.interactiveElements[i].x &&
y < this.mouse.interactiveElements[i].y + this.mouse.interactiveElements[i].getHeight() && y > this.mouse.interactiveElements[i].y) {
return this.mouse.interactiveElements[i];
}
}
return null;
return this.mouse.interactiveElements.find(elem => elem.mouseHit(x, y))
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pathseg.js
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@ -5,7 +5,7 @@
// SVG2 (https://lists.w3.org/Archives/Public/www-svg/2015Jun/0044.html), including the latest spec
// changes which were implemented in Firefox 43 and Chrome 46.
(function() { "use strict";
window.pathseg = (function() { "use strict";
if (!("SVGPathSeg" in window)) {
// Spec: http://www.w3.org/TR/SVG11/single-page.html#paths-InterfaceSVGPathSeg
window.SVGPathSeg = function(type, typeAsLetter, owningPathSegList) {
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return builder.pathSegList;
}
}
}());
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y="0px"
width="300"
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sodipodi:docname="robotbody.svg"
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174
sensors.js Normal file
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@ -0,0 +1,174 @@
// Description of robot(s), and attached sensor(s) used by InstantiateRobot()
class Sensor {
constructor(id, props) {
Object.assign(this, {
id,
parent: null,
lookAngle:0,
attachRadius: simInfo.robotSize,
value: null,
valueStr: "<uninit>",
minVal: 0,
maxVal: 50
}, props)
this.info = this
this.setAngle(this.attachAngle)
}
setAngle(attachAngle) {
this.attachAngle = attachAngle
Object.assign(this, Vec2.fromPolar(Vec2.zero, this.attachRadius, this.attachAngle))
}
plotSensor(context, x = this.x, y = this.y) {
context.beginPath();
context.arc(x, y, this.getWidth()/2, 0, 2*Math.PI);
context.closePath();
context.fillStyle = 'black';
context.strokeStyle = this.color ? convrgb(this.color) : 'black';
context.fill();
context.stroke();
}
onDragging(sensor, event) {
const {x, y} = sim.bay.transformMouse(event.mouse),
mAngle = Math.atan2(y, x),
mRadius = Math.sqrt(x*x + y*y);
this.attachRadius = mRadius
this.setAngle(mAngle)
sim.bay.repaint()
}
getWidth() { return 2 }
getHeight() { return 2 }
mouseHit(x, y) {
const mouse = sim.bay.transformMouse({x,y})
return Vec2.distLess(this, mouse, this.getWidth()/2 + 1)
}
};
class DistanceSensor extends Sensor {
rayCast() {
/* Distance sensor simulation based on ray casting. Called from sensor
* 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);
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) {
return Vec2.fromPolar(startPoint, rayLength, rayAngle)
};
function sensorRay(bodies, rayLength) {
// 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) + '&deg;'
}
}

41
utils.js Normal file
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@ -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);
};