IunctusSimulator.cpp

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#include "IunctusSimulator.h"
#include "Border.h"
#include "Circle.h"




IunctusSimulator::IunctusSimulator() {

   real width=6, height=4;
   //set the borders of the simulator space
   registerObject(new Border(0, height/2, 1, 0, "left border"));
   registerObject(new Border(width, height/2, -1, 0, "right border"));
   registerObject(new Border(width/2, 0,  0, 1, "bottom border"));
   registerObject(new Border(width/2, height, 0,  -1, "upper border"));

   float circles[6][3] = {
      {0.1f, 5.0f, 3.0f},
      {0.2f, 0.4f, 0.6f},
      {0.1f, 0.8f, 0.9f},
      {0.2f, 1.7f, 2.8f},
      {0.25f, 4.7f, 2.5f},
      {0.1f, 3.5f, 1.0f}
   };
   
   //add the agent
   registerObject(agent=new Iunctus(2.0, 0.8, "Iunctus"));

   //add balls

   char s[10];

   
   for (unsigned i = 0; i < 6; ++i) {
      sprintf(s,"ball %d",i+1);
      registerObject(new Circle(circles[i][0], circles[i][1], circles[i][2], s));
   }
   

   
   registerObject(new CappedRectangle(0.3f,  0.1f, 3.0f, 2.2f, 10*degrees, "capsule 1"));
   registerObject(new CappedRectangle(0.6f, 0.05f, 1.0f, 3.2f, 60*degrees, "capsule 2"));
   registerObject(new CappedRectangle(0.5f, 0.12f, 5.0f, 1.2f, 80*degrees, "capsule 3"));
   registerObject(new CappedRectangle(0.4f, 0.08f, 2.3f, 3.3f, 160*degrees, "capsule 4"));
   ComposedPhysicalObject* c=new ComposedPhysicalObject(2.0f, 2.5f, 0, "double ball");
   c->addObject(new Circle(0.1),-0.1,0,0);
   c->addObject(new Circle(0.1),0.1,0,0);
   registerObject(c);
}

IunctusSimulator::~IunctusSimulator(){
}

void IunctusSimulator::detectContacts(){
   Simulator::detectContacts();
   /*
   The eye is not involved into contact detection by its parent, the agent.
   We can do this by either:
   1. Changing the bounding box of the agent to include the bounding box of the eye, thus becoming infinite,
   and including eye contact detection with agent contact detection (as for Spherus).
   This is innefficient because we will then need to verify in detail the contact of all agent links
   with all objects.
   2. Changing the method of contact detection in Simulator::detectContacts by performing culling with 
   bounding boxes at the level of primitives. Thus, the eye will be treated separately of the agent.
   Then, we will have to ensure that there is no contact checking between successive articulated links.
   This is best but requires distancing slightly the links and coding global changes in the implementation 
   of contact detection (to do...).
   3. The method implemented below: we call here 'manually' contact detection for the eye with all objects.
   */
   PhysicalObjectPVector::iterator objectsI, objectsEnd=objects.end();
   for(objectsI=objects.begin(); objectsI!=objectsEnd; ++objectsI){
         agent->eye->detectContacts(*objectsI, &contacts);
   }

}

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