Add SARL project with Guy
This commit is contained in:
parent
98ae4e3f33
commit
0d1182404b
13
.classpath
13
.classpath
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@ -1,6 +1,13 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<classpath>
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<classpathentry kind="src" path=""/>
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<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
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<classpathentry kind="output" path=""/>
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<classpathentry kind="src" path="src/main/sarl"/>
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<classpathentry kind="src" path="src/main/generated-sources/sarl">
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<attributes>
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<attribute name="ignore_optional_problems" value="true"/>
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</attributes>
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</classpathentry>
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<classpathentry kind="src" path="src/main/resources"/>
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<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.8"/>
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<classpathentry kind="lib" path="/home/skia/Documents/UTBM/GI04/VI51/TP2 - SARL/io.janusproject.kernel-2.0.3.1-with-dependencies.jar"/>
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<classpathentry kind="output" path="target/classes"/>
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</classpath>
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9
.project
9
.project
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@ -1,10 +1,15 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<projectDescription>
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<name>VI51-Project</name>
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<name>VI51-TP5-Boids</name>
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<comment></comment>
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<projects>
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</projects>
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<buildSpec>
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<buildCommand>
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<name>org.eclipse.xtext.ui.shared.xtextBuilder</name>
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<arguments>
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</arguments>
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</buildCommand>
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<buildCommand>
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<name>org.eclipse.jdt.core.javabuilder</name>
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<arguments>
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@ -12,6 +17,8 @@
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</buildCommand>
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</buildSpec>
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<natures>
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<nature>io.sarl.eclipse.SARLProjectNature</nature>
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<nature>org.eclipse.xtext.ui.shared.xtextNature</nature>
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<nature>org.eclipse.jdt.core.javanature</nature>
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</natures>
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</projectDescription>
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4
.settings/io.sarl.lang.SARL.prefs
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4
.settings/io.sarl.lang.SARL.prefs
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@ -0,0 +1,4 @@
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BuilderConfiguration.is_project_specific=true
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eclipse.preferences.version=1
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is_project_specific=true
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outlet.DEFAULT_OUTPUT.cleanDirectory=true
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11
.settings/org.eclipse.jdt.core.prefs
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11
.settings/org.eclipse.jdt.core.prefs
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@ -0,0 +1,11 @@
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eclipse.preferences.version=1
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org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
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org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.8
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org.eclipse.jdt.core.compiler.codegen.unusedLocal=preserve
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org.eclipse.jdt.core.compiler.compliance=1.8
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org.eclipse.jdt.core.compiler.debug.lineNumber=generate
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org.eclipse.jdt.core.compiler.debug.localVariable=generate
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org.eclipse.jdt.core.compiler.debug.sourceFile=generate
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org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
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org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
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org.eclipse.jdt.core.compiler.source=1.8
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3
META-INF/MANIFEST.MF
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3
META-INF/MANIFEST.MF
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Manifest-Version: 1.0
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Created-By: 1.8.0_91 (Oracle Corporation)
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Binary file not shown.
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/**
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* $Id$
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*
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* Copyright (c) 2014-15 Stephane GALLAND <stephane.galland@utbm.fr>.
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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* This program is free software; you can redistribute it and/or modify
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*/
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package fr.utbm.info.vi51.eurock.agent;
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import com.google.common.base.Objects;
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import fr.utbm.info.vi51.framework.agent.AbstractAnimat;
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import fr.utbm.info.vi51.framework.environment.PerceptionEvent;
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import fr.utbm.info.vi51.framework.environment.SimulationAgentReady;
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import fr.utbm.info.vi51.framework.math.Point2f;
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import fr.utbm.info.vi51.framework.math.Vector2f;
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import fr.utbm.info.vi51.motionbehavior.AlignBehaviour;
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import fr.utbm.info.vi51.motionbehavior.KinematicAlignBehaviour;
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import fr.utbm.info.vi51.motionbehavior.KinematicSeekBehaviour;
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import fr.utbm.info.vi51.motionbehavior.KinematicWanderBehaviour;
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import fr.utbm.info.vi51.motionbehavior.SeekBehaviour;
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import fr.utbm.info.vi51.motionbehavior.WanderBehaviour;
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import io.sarl.core.AgentSpawned;
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import io.sarl.core.DefaultContextInteractions;
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import io.sarl.core.Initialize;
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import io.sarl.core.Logging;
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import io.sarl.lang.annotation.FiredEvent;
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import io.sarl.lang.annotation.ImportedCapacityFeature;
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import io.sarl.lang.annotation.SarlSpecification;
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import io.sarl.lang.core.Address;
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import io.sarl.lang.core.Agent;
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import io.sarl.lang.core.AgentContext;
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import io.sarl.lang.core.BuiltinCapacitiesProvider;
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import io.sarl.lang.core.Event;
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import io.sarl.lang.core.EventSpace;
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import io.sarl.lang.core.Percept;
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import io.sarl.lang.core.Scope;
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import io.sarl.lang.core.Space;
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import io.sarl.lang.core.SpaceID;
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import java.io.Serializable;
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import java.util.Random;
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import java.util.UUID;
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import javax.annotation.Generated;
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import javax.inject.Inject;
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@SarlSpecification("0.3")
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@SuppressWarnings("all")
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public class Guy extends AbstractAnimat {
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protected SeekBehaviour seekBehaviour;
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protected WanderBehaviour wanderBehaviour;
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protected AlignBehaviour alignBehaviour;
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@Percept
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public void _handle_Initialize_0(final Initialize occurrence) {
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super._handle_Initialize_0(occurrence);
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SimulationAgentReady _simulationAgentReady = new SimulationAgentReady();
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this.emit(_simulationAgentReady);
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KinematicSeekBehaviour _kinematicSeekBehaviour = new KinematicSeekBehaviour();
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this.seekBehaviour = _kinematicSeekBehaviour;
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KinematicAlignBehaviour _kinematicAlignBehaviour = new KinematicAlignBehaviour();
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this.alignBehaviour = _kinematicAlignBehaviour;
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KinematicWanderBehaviour _kinematicWanderBehaviour = new KinematicWanderBehaviour();
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this.wanderBehaviour = _kinematicWanderBehaviour;
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}
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@Percept
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public void _handle_PerceptionEvent_1(final PerceptionEvent occurrence) {
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fr.utbm.info.vi51.framework.environment.Percept body = occurrence.body;
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Vector2f direction = new Vector2f();
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Random random = new Random();
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Vector2f barycenter = new Vector2f();
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Vector2f f = new Vector2f();
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int _size = occurrence.perceptions.size();
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boolean _greaterThan = (_size > 0);
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if (_greaterThan) {
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for (final fr.utbm.info.vi51.framework.environment.Percept o : occurrence.perceptions) {
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Serializable _type = o.getType();
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boolean _equals = Objects.equal(_type, "FISH");
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if (_equals) {
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Point2f _position = o.getPosition();
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Point2f _position_1 = body.getPosition();
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Vector2f _minus = _position.operator_minus(_position_1);
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barycenter.operator_add(_minus);
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Vector2f _direction = o.getDirection();
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direction.operator_add(_direction);
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Point2f _position_2 = body.getPosition();
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Point2f _position_3 = o.getPosition();
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Vector2f _minus_1 = _position_2.operator_minus(_position_3);
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Vector2f _multiply = _minus_1.operator_multiply(4);
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Point2f _position_4 = body.getPosition();
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Point2f _position_5 = o.getPosition();
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Vector2f _minus_2 = _position_4.operator_minus(_position_5);
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float _length = _minus_2.length();
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double _power = Math.pow(_length, 1);
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double _plus = (_power + 1);
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Vector2f _divide = _multiply.operator_divide(((float) _plus));
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f.operator_add(_divide);
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} else {
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Serializable _type_1 = o.getType();
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boolean _equals_1 = Objects.equal(_type_1, "TARGET");
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if (_equals_1) {
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Point2f _position_6 = o.getPosition();
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Point2f _position_7 = body.getPosition();
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Vector2f _minus_3 = _position_6.operator_minus(_position_7);
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Vector2f _multiply_1 = _minus_3.operator_multiply(5);
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barycenter.operator_add(_multiply_1);
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Point2f _position_8 = o.getPosition();
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Point2f _position_9 = body.getPosition();
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Vector2f _minus_4 = _position_8.operator_minus(_position_9);
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direction.operator_add(_minus_4);
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Point2f _position_10 = body.getPosition();
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Point2f _position_11 = o.getPosition();
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Vector2f _minus_5 = _position_10.operator_minus(_position_11);
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Vector2f _unitVector = _minus_5.toUnitVector();
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Point2f _position_12 = body.getPosition();
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Point2f _position_13 = o.getPosition();
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Vector2f _minus_6 = _position_12.operator_minus(_position_13);
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float _length_1 = _minus_6.length();
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double _power_1 = Math.pow(_length_1, 8);
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double _plus_1 = (_power_1 + 1);
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Vector2f _divide_1 = _unitVector.operator_divide(((float) _plus_1));
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f.operator_add(_divide_1);
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}
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}
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}
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Vector2f _barycenter = barycenter;
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int _size_1 = occurrence.perceptions.size();
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double _divide_2 = (1.0 / _size_1);
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barycenter = _barycenter.operator_multiply(((float) _divide_2));
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direction.operator_add(barycenter);
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Vector2f _plus_2 = barycenter.operator_plus(f);
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Vector2f _direction_1 = body.getDirection();
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float _signedAngle = _direction_1.signedAngle(direction);
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this.influenceKinematic(_plus_2, _signedAngle);
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} else {
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int _nextInt = random.nextInt();
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int _nextInt_1 = random.nextInt();
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Vector2f linear = new Vector2f(((float) _nextInt), ((float) _nextInt_1));
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double _nextGaussian = random.nextGaussian();
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float angular = ((float) _nextGaussian);
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this.influenceKinematic(linear, angular);
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}
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}
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/**
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* See the capacity {@link io.sarl.core.DefaultContextInteractions#emit(io.sarl.lang.core.Event)}.
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*
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* @see io.sarl.core.DefaultContextInteractions#emit(io.sarl.lang.core.Event)
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*/
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@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
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@ImportedCapacityFeature(DefaultContextInteractions.class)
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protected void emit(final Event arg0) {
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getSkill(io.sarl.core.DefaultContextInteractions.class).emit(arg0);
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}
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/**
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* See the capacity {@link io.sarl.core.DefaultContextInteractions#emit(io.sarl.lang.core.Event,io.sarl.lang.core.Scope<io.sarl.lang.core.Address>)}.
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*
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* @see io.sarl.core.DefaultContextInteractions#emit(io.sarl.lang.core.Event,io.sarl.lang.core.Scope<io.sarl.lang.core.Address>)
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*/
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@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
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@ImportedCapacityFeature(DefaultContextInteractions.class)
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protected void emit(final Event arg0, final Scope<Address> arg1) {
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getSkill(io.sarl.core.DefaultContextInteractions.class).emit(arg0, arg1);
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}
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/**
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* See the capacity {@link io.sarl.core.DefaultContextInteractions#getDefaultAddress()}.
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*
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* @see io.sarl.core.DefaultContextInteractions#getDefaultAddress()
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*/
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@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
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@ImportedCapacityFeature(DefaultContextInteractions.class)
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protected Address getDefaultAddress() {
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return getSkill(io.sarl.core.DefaultContextInteractions.class).getDefaultAddress();
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}
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/**
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* See the capacity {@link io.sarl.core.DefaultContextInteractions#getDefaultContext()}.
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*
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* @see io.sarl.core.DefaultContextInteractions#getDefaultContext()
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*/
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@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
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@ImportedCapacityFeature(DefaultContextInteractions.class)
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protected AgentContext getDefaultContext() {
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return getSkill(io.sarl.core.DefaultContextInteractions.class).getDefaultContext();
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}
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/**
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* See the capacity {@link io.sarl.core.DefaultContextInteractions#getDefaultSpace()}.
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*
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* @see io.sarl.core.DefaultContextInteractions#getDefaultSpace()
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*/
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@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
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@ImportedCapacityFeature(DefaultContextInteractions.class)
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protected EventSpace getDefaultSpace() {
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return getSkill(io.sarl.core.DefaultContextInteractions.class).getDefaultSpace();
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}
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/**
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* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultContext(io.sarl.lang.core.AgentContext)}.
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*
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* @see io.sarl.core.DefaultContextInteractions#isDefaultContext(io.sarl.lang.core.AgentContext)
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*/
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@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
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@ImportedCapacityFeature(DefaultContextInteractions.class)
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protected boolean isDefaultContext(final AgentContext arg0) {
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return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultContext(arg0);
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}
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/**
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* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultContext(java.util.UUID)}.
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*
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* @see io.sarl.core.DefaultContextInteractions#isDefaultContext(java.util.UUID)
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*/
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@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
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@ImportedCapacityFeature(DefaultContextInteractions.class)
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protected boolean isDefaultContext(final UUID arg0) {
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return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultContext(arg0);
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}
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/**
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* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultSpace(io.sarl.lang.core.Space)}.
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*
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* @see io.sarl.core.DefaultContextInteractions#isDefaultSpace(io.sarl.lang.core.Space)
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*/
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@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
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@ImportedCapacityFeature(DefaultContextInteractions.class)
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protected boolean isDefaultSpace(final Space arg0) {
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return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultSpace(arg0);
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}
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/**
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* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultSpace(io.sarl.lang.core.SpaceID)}.
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*
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* @see io.sarl.core.DefaultContextInteractions#isDefaultSpace(io.sarl.lang.core.SpaceID)
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*/
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@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
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@ImportedCapacityFeature(DefaultContextInteractions.class)
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protected boolean isDefaultSpace(final SpaceID arg0) {
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return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultSpace(arg0);
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}
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/**
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* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultSpace(java.util.UUID)}.
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*
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* @see io.sarl.core.DefaultContextInteractions#isDefaultSpace(java.util.UUID)
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*/
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@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
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@ImportedCapacityFeature(DefaultContextInteractions.class)
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protected boolean isDefaultSpace(final UUID arg0) {
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return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultSpace(arg0);
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}
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/**
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* See the capacity {@link io.sarl.core.DefaultContextInteractions#isInDefaultSpace(io.sarl.lang.core.Event)}.
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*
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* @see io.sarl.core.DefaultContextInteractions#isInDefaultSpace(io.sarl.lang.core.Event)
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*/
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@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
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@ImportedCapacityFeature(DefaultContextInteractions.class)
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protected boolean isInDefaultSpace(final Event arg0) {
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return getSkill(io.sarl.core.DefaultContextInteractions.class).isInDefaultSpace(arg0);
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}
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/**
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* See the capacity {@link io.sarl.core.DefaultContextInteractions#receive(java.util.UUID,io.sarl.lang.core.Event)}.
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*
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* @see io.sarl.core.DefaultContextInteractions#receive(java.util.UUID,io.sarl.lang.core.Event)
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*/
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@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
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@ImportedCapacityFeature(DefaultContextInteractions.class)
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protected void receive(final UUID arg0, final Event arg1) {
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getSkill(io.sarl.core.DefaultContextInteractions.class).receive(arg0, arg1);
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}
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/**
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* See the capacity {@link io.sarl.core.DefaultContextInteractions#spawn(java.lang.Class<? extends io.sarl.lang.core.Agent>,java.lang.Object[])}.
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*
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* @see io.sarl.core.DefaultContextInteractions#spawn(java.lang.Class<? extends io.sarl.lang.core.Agent>,java.lang.Object[])
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*/
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@FiredEvent(AgentSpawned.class)
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@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
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@ImportedCapacityFeature(DefaultContextInteractions.class)
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protected UUID spawn(final Class<? extends Agent> arg0, final Object... arg1) {
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return getSkill(io.sarl.core.DefaultContextInteractions.class).spawn(arg0, arg1);
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}
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/**
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* See the capacity {@link io.sarl.core.Logging#debug(java.lang.Object)}.
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*
|
||||
* @see io.sarl.core.Logging#debug(java.lang.Object)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Logging.class)
|
||||
protected void debug(final Object arg0) {
|
||||
getSkill(io.sarl.core.Logging.class).debug(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Logging#error(java.lang.Object)}.
|
||||
*
|
||||
* @see io.sarl.core.Logging#error(java.lang.Object)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Logging.class)
|
||||
protected void error(final Object arg0) {
|
||||
getSkill(io.sarl.core.Logging.class).error(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Logging#error(java.lang.Object,java.lang.Throwable)}.
|
||||
*
|
||||
* @see io.sarl.core.Logging#error(java.lang.Object,java.lang.Throwable)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Logging.class)
|
||||
protected void error(final Object arg0, final Throwable arg1) {
|
||||
getSkill(io.sarl.core.Logging.class).error(arg0, arg1);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Logging#getLogLevel()}.
|
||||
*
|
||||
* @see io.sarl.core.Logging#getLogLevel()
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Logging.class)
|
||||
protected int getLogLevel() {
|
||||
return getSkill(io.sarl.core.Logging.class).getLogLevel();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Logging#info(java.lang.Object)}.
|
||||
*
|
||||
* @see io.sarl.core.Logging#info(java.lang.Object)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Logging.class)
|
||||
protected void info(final Object arg0) {
|
||||
getSkill(io.sarl.core.Logging.class).info(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Logging#isDebugLogEnabled()}.
|
||||
*
|
||||
* @see io.sarl.core.Logging#isDebugLogEnabled()
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Logging.class)
|
||||
protected boolean isDebugLogEnabled() {
|
||||
return getSkill(io.sarl.core.Logging.class).isDebugLogEnabled();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Logging#isErrorLogEnabled()}.
|
||||
*
|
||||
* @see io.sarl.core.Logging#isErrorLogEnabled()
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Logging.class)
|
||||
protected boolean isErrorLogEnabled() {
|
||||
return getSkill(io.sarl.core.Logging.class).isErrorLogEnabled();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Logging#isInfoLogEnabled()}.
|
||||
*
|
||||
* @see io.sarl.core.Logging#isInfoLogEnabled()
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Logging.class)
|
||||
protected boolean isInfoLogEnabled() {
|
||||
return getSkill(io.sarl.core.Logging.class).isInfoLogEnabled();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Logging#isWarningLogEnabled()}.
|
||||
*
|
||||
* @see io.sarl.core.Logging#isWarningLogEnabled()
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Logging.class)
|
||||
protected boolean isWarningLogEnabled() {
|
||||
return getSkill(io.sarl.core.Logging.class).isWarningLogEnabled();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Logging#println(java.lang.Object)}.
|
||||
*
|
||||
* @see io.sarl.core.Logging#println(java.lang.Object)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Logging.class)
|
||||
protected void println(final Object arg0) {
|
||||
getSkill(io.sarl.core.Logging.class).println(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Logging#setLogLevel(int)}.
|
||||
*
|
||||
* @see io.sarl.core.Logging#setLogLevel(int)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Logging.class)
|
||||
protected void setLogLevel(final int arg0) {
|
||||
getSkill(io.sarl.core.Logging.class).setLogLevel(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Logging#setLoggingName(java.lang.String)}.
|
||||
*
|
||||
* @see io.sarl.core.Logging#setLoggingName(java.lang.String)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Logging.class)
|
||||
protected void setLoggingName(final String arg0) {
|
||||
getSkill(io.sarl.core.Logging.class).setLoggingName(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Logging#warning(java.lang.Object)}.
|
||||
*
|
||||
* @see io.sarl.core.Logging#warning(java.lang.Object)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Logging.class)
|
||||
protected void warning(final Object arg0) {
|
||||
getSkill(io.sarl.core.Logging.class).warning(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Logging#warning(java.lang.Object,java.lang.Throwable)}.
|
||||
*
|
||||
* @see io.sarl.core.Logging#warning(java.lang.Object,java.lang.Throwable)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Logging.class)
|
||||
protected void warning(final Object arg0, final Throwable arg1) {
|
||||
getSkill(io.sarl.core.Logging.class).warning(arg0, arg1);
|
||||
}
|
||||
|
||||
/**
|
||||
* Construct an agent.
|
||||
* @param builtinCapacityProvider - provider of the built-in capacities.
|
||||
* @param parentID - identifier of the parent. It is the identifier of the parent agent and the enclosing contect, at the same time.
|
||||
* @param agentID - identifier of the agent. If <code>null</code> the agent identifier will be computed randomly.
|
||||
*/
|
||||
@Inject
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public Guy(final BuiltinCapacitiesProvider builtinCapacityProvider, final UUID parentID, final UUID agentID) {
|
||||
super(builtinCapacityProvider, parentID, agentID);
|
||||
}
|
||||
}
|
||||
Binary file not shown.
Binary file not shown.
|
|
@ -0,0 +1,328 @@
|
|||
/**
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2014-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.framework;
|
||||
|
||||
import fr.utbm.info.vi51.framework.environment.AgentBody;
|
||||
import fr.utbm.info.vi51.framework.environment.DynamicType;
|
||||
import fr.utbm.info.vi51.framework.environment.Environment;
|
||||
import fr.utbm.info.vi51.framework.environment.EnvironmentAgent;
|
||||
import fr.utbm.info.vi51.framework.environment.SimulationAgentReady;
|
||||
import fr.utbm.info.vi51.framework.environment.StartSimulation;
|
||||
import fr.utbm.info.vi51.framework.util.SpawnMapping;
|
||||
import io.sarl.core.AgentKilled;
|
||||
import io.sarl.core.AgentSpawned;
|
||||
import io.sarl.core.DefaultContextInteractions;
|
||||
import io.sarl.core.Destroy;
|
||||
import io.sarl.core.Initialize;
|
||||
import io.sarl.core.Lifecycle;
|
||||
import io.sarl.lang.annotation.EarlyExit;
|
||||
import io.sarl.lang.annotation.FiredEvent;
|
||||
import io.sarl.lang.annotation.ImportedCapacityFeature;
|
||||
import io.sarl.lang.annotation.SarlSpecification;
|
||||
import io.sarl.lang.core.Address;
|
||||
import io.sarl.lang.core.Agent;
|
||||
import io.sarl.lang.core.AgentContext;
|
||||
import io.sarl.lang.core.BuiltinCapacitiesProvider;
|
||||
import io.sarl.lang.core.Event;
|
||||
import io.sarl.lang.core.EventSpace;
|
||||
import io.sarl.lang.core.Percept;
|
||||
import io.sarl.lang.core.Scope;
|
||||
import io.sarl.lang.core.Space;
|
||||
import io.sarl.lang.core.SpaceID;
|
||||
import io.sarl.util.OpenEventSpace;
|
||||
import io.sarl.util.OpenEventSpaceSpecification;
|
||||
import java.util.List;
|
||||
import java.util.UUID;
|
||||
import javax.annotation.Generated;
|
||||
import javax.inject.Inject;
|
||||
import org.eclipse.xtext.xbase.lib.CollectionLiterals;
|
||||
import org.eclipse.xtext.xbase.lib.Conversions;
|
||||
import org.eclipse.xtext.xbase.lib.IterableExtensions;
|
||||
import org.eclipse.xtext.xbase.lib.Pure;
|
||||
|
||||
/**
|
||||
* This agent is managing the simulator.
|
||||
*
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
*/
|
||||
@SarlSpecification("0.3")
|
||||
@SuppressWarnings("all")
|
||||
public class SimulatorAgent extends Agent {
|
||||
protected int waitingAgents = 0;
|
||||
|
||||
@Percept
|
||||
public void _handle_Initialize_0(final Initialize occurrence) {
|
||||
Object _get = occurrence.parameters[0];
|
||||
Environment environment = ((Environment) _get);
|
||||
Object _get_1 = occurrence.parameters[1];
|
||||
UUID spaceId = ((UUID) _get_1);
|
||||
Object _get_2 = occurrence.parameters[2];
|
||||
SpawnMapping spawnMapping = ((SpawnMapping) _get_2);
|
||||
Object _get_3 = occurrence.parameters[3];
|
||||
DynamicType behaviorType = ((DynamicType) _get_3);
|
||||
AgentContext _defaultContext = this.getDefaultContext();
|
||||
OpenEventSpace space = _defaultContext.<OpenEventSpace>getOrCreateSpaceWithID(spaceId, OpenEventSpaceSpecification.class);
|
||||
this.avoidUnusedVariableWarning(space);
|
||||
Iterable<? extends AgentBody> _agentBodies = environment.getAgentBodies();
|
||||
int _size = IterableExtensions.size(_agentBodies);
|
||||
int _plus = (_size + 1);
|
||||
this.waitingAgents = _plus;
|
||||
UUID environmentId = this.spawn(EnvironmentAgent.class, environment, spaceId);
|
||||
List<Object> agentParameters = CollectionLiterals.<Object>newArrayList(spaceId, environmentId, behaviorType);
|
||||
for (int i = 4; (i < ((List<Object>)Conversions.doWrapArray(occurrence.parameters)).size()); i++) {
|
||||
Object _get_4 = occurrence.parameters[i];
|
||||
agentParameters.add(_get_4);
|
||||
}
|
||||
Iterable<? extends AgentBody> _agentBodies_1 = environment.getAgentBodies();
|
||||
for (final AgentBody body : _agentBodies_1) {
|
||||
{
|
||||
Class<? extends Agent> agentType = spawnMapping.getAgentTypeForBody(body);
|
||||
UUID _iD = body.getID();
|
||||
AgentContext _defaultContext_1 = this.getDefaultContext();
|
||||
Object[] _array = agentParameters.toArray();
|
||||
this.spawnInContextWithID(agentType, _iD, _defaultContext_1, _array);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private void avoidUnusedVariableWarning(final Object o) {
|
||||
}
|
||||
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@Pure
|
||||
private boolean _eventhandler_guard_SimulationAgentReady_1(final SimulationAgentReady it, final SimulationAgentReady occurrence) {
|
||||
boolean _isFromMe = this.isFromMe(occurrence);
|
||||
boolean _not = (!_isFromMe);
|
||||
return _not;
|
||||
}
|
||||
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
private void _eventhandler_body_SimulationAgentReady_1(final SimulationAgentReady occurrence) {
|
||||
synchronized (this) {
|
||||
this.waitingAgents--;
|
||||
if ((this.waitingAgents <= 0)) {
|
||||
StartSimulation _startSimulation = new StartSimulation();
|
||||
this.emit(_startSimulation);
|
||||
this.killMe();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@Percept
|
||||
public void _handle_SimulationAgentReady_1(final SimulationAgentReady occurrence) {
|
||||
if (_eventhandler_guard_SimulationAgentReady_1(occurrence, occurrence)) {
|
||||
_eventhandler_body_SimulationAgentReady_1(occurrence);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#emit(io.sarl.lang.core.Event)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#emit(io.sarl.lang.core.Event)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected void emit(final Event arg0) {
|
||||
getSkill(io.sarl.core.DefaultContextInteractions.class).emit(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#emit(io.sarl.lang.core.Event,io.sarl.lang.core.Scope<io.sarl.lang.core.Address>)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#emit(io.sarl.lang.core.Event,io.sarl.lang.core.Scope<io.sarl.lang.core.Address>)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected void emit(final Event arg0, final Scope<Address> arg1) {
|
||||
getSkill(io.sarl.core.DefaultContextInteractions.class).emit(arg0, arg1);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#getDefaultAddress()}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#getDefaultAddress()
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected Address getDefaultAddress() {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).getDefaultAddress();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#getDefaultContext()}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#getDefaultContext()
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected AgentContext getDefaultContext() {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).getDefaultContext();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#getDefaultSpace()}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#getDefaultSpace()
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected EventSpace getDefaultSpace() {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).getDefaultSpace();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultContext(io.sarl.lang.core.AgentContext)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isDefaultContext(io.sarl.lang.core.AgentContext)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isDefaultContext(final AgentContext arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultContext(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultContext(java.util.UUID)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isDefaultContext(java.util.UUID)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isDefaultContext(final UUID arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultContext(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultSpace(io.sarl.lang.core.Space)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isDefaultSpace(io.sarl.lang.core.Space)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isDefaultSpace(final Space arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultSpace(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultSpace(io.sarl.lang.core.SpaceID)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isDefaultSpace(io.sarl.lang.core.SpaceID)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isDefaultSpace(final SpaceID arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultSpace(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultSpace(java.util.UUID)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isDefaultSpace(java.util.UUID)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isDefaultSpace(final UUID arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultSpace(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isInDefaultSpace(io.sarl.lang.core.Event)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isInDefaultSpace(io.sarl.lang.core.Event)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isInDefaultSpace(final Event arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isInDefaultSpace(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#receive(java.util.UUID,io.sarl.lang.core.Event)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#receive(java.util.UUID,io.sarl.lang.core.Event)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected void receive(final UUID arg0, final Event arg1) {
|
||||
getSkill(io.sarl.core.DefaultContextInteractions.class).receive(arg0, arg1);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#spawn(java.lang.Class<? extends io.sarl.lang.core.Agent>,java.lang.Object[])}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#spawn(java.lang.Class<? extends io.sarl.lang.core.Agent>,java.lang.Object[])
|
||||
*/
|
||||
@FiredEvent(AgentSpawned.class)
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected UUID spawn(final Class<? extends Agent> arg0, final Object... arg1) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).spawn(arg0, arg1);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Lifecycle#killMe()}.
|
||||
*
|
||||
* @see io.sarl.core.Lifecycle#killMe()
|
||||
*/
|
||||
@EarlyExit
|
||||
@FiredEvent({ AgentKilled.class, Destroy.class })
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Lifecycle.class)
|
||||
protected void killMe() {
|
||||
getSkill(io.sarl.core.Lifecycle.class).killMe();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Lifecycle#spawnInContext(java.lang.Class<? extends io.sarl.lang.core.Agent>,io.sarl.lang.core.AgentContext,java.lang.Object[])}.
|
||||
*
|
||||
* @see io.sarl.core.Lifecycle#spawnInContext(java.lang.Class<? extends io.sarl.lang.core.Agent>,io.sarl.lang.core.AgentContext,java.lang.Object[])
|
||||
*/
|
||||
@FiredEvent(AgentSpawned.class)
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Lifecycle.class)
|
||||
protected UUID spawnInContext(final Class<? extends Agent> arg0, final AgentContext arg1, final Object... arg2) {
|
||||
return getSkill(io.sarl.core.Lifecycle.class).spawnInContext(arg0, arg1, arg2);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Lifecycle#spawnInContextWithID(java.lang.Class<? extends io.sarl.lang.core.Agent>,java.util.UUID,io.sarl.lang.core.AgentContext,java.lang.Object[])}.
|
||||
*
|
||||
* @see io.sarl.core.Lifecycle#spawnInContextWithID(java.lang.Class<? extends io.sarl.lang.core.Agent>,java.util.UUID,io.sarl.lang.core.AgentContext,java.lang.Object[])
|
||||
*/
|
||||
@FiredEvent(AgentSpawned.class)
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Lifecycle.class)
|
||||
protected UUID spawnInContextWithID(final Class<? extends Agent> arg0, final UUID arg1, final AgentContext arg2, final Object... arg3) {
|
||||
return getSkill(io.sarl.core.Lifecycle.class).spawnInContextWithID(arg0, arg1, arg2, arg3);
|
||||
}
|
||||
|
||||
/**
|
||||
* Construct an agent.
|
||||
* @param builtinCapacityProvider - provider of the built-in capacities.
|
||||
* @param parentID - identifier of the parent. It is the identifier of the parent agent and the enclosing contect, at the same time.
|
||||
* @param agentID - identifier of the agent. If <code>null</code> the agent identifier will be computed randomly.
|
||||
*/
|
||||
@Inject
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public SimulatorAgent(final BuiltinCapacitiesProvider builtinCapacityProvider, final UUID parentID, final UUID agentID) {
|
||||
super(builtinCapacityProvider, parentID, agentID);
|
||||
}
|
||||
}
|
||||
Binary file not shown.
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|
|
@ -0,0 +1,267 @@
|
|||
/**
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2014-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.framework.agent;
|
||||
|
||||
import com.google.common.base.Objects;
|
||||
import fr.utbm.info.vi51.framework.agent.BehaviourOutput;
|
||||
import fr.utbm.info.vi51.framework.agent.PhysicEnvironment;
|
||||
import fr.utbm.info.vi51.framework.agent.StandardPhysicEnvironment;
|
||||
import fr.utbm.info.vi51.framework.environment.DynamicType;
|
||||
import fr.utbm.info.vi51.framework.environment.Influence;
|
||||
import fr.utbm.info.vi51.framework.environment.StopSimulation;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import io.sarl.core.AgentKilled;
|
||||
import io.sarl.core.AgentSpawned;
|
||||
import io.sarl.core.Destroy;
|
||||
import io.sarl.core.Initialize;
|
||||
import io.sarl.core.Lifecycle;
|
||||
import io.sarl.lang.annotation.EarlyExit;
|
||||
import io.sarl.lang.annotation.FiredEvent;
|
||||
import io.sarl.lang.annotation.ImportedCapacityFeature;
|
||||
import io.sarl.lang.annotation.SarlSpecification;
|
||||
import io.sarl.lang.core.Agent;
|
||||
import io.sarl.lang.core.AgentContext;
|
||||
import io.sarl.lang.core.BuiltinCapacitiesProvider;
|
||||
import io.sarl.lang.core.Percept;
|
||||
import java.util.List;
|
||||
import java.util.UUID;
|
||||
import javax.annotation.Generated;
|
||||
import javax.inject.Inject;
|
||||
import org.eclipse.xtext.xbase.lib.Pure;
|
||||
|
||||
@SarlSpecification("0.3")
|
||||
@SuppressWarnings("all")
|
||||
public class AbstractAnimat extends Agent {
|
||||
protected DynamicType behaviorType;
|
||||
|
||||
@Percept
|
||||
public void _handle_Initialize_0(final Initialize occurrence) {
|
||||
Object _get = occurrence.parameters[0];
|
||||
Object _get_1 = occurrence.parameters[1];
|
||||
StandardPhysicEnvironment physicSkill = new StandardPhysicEnvironment(
|
||||
((UUID) _get),
|
||||
((UUID) _get_1));
|
||||
Object _get_2 = occurrence.parameters[2];
|
||||
this.behaviorType = ((DynamicType) _get_2);
|
||||
this.<StandardPhysicEnvironment>setSkill(PhysicEnvironment.class, physicSkill);
|
||||
}
|
||||
|
||||
@Pure
|
||||
protected float getMaxLinear(final fr.utbm.info.vi51.framework.environment.Percept p) {
|
||||
float _xifexpression = (float) 0;
|
||||
boolean _equals = Objects.equal(this.behaviorType, DynamicType.STEERING);
|
||||
if (_equals) {
|
||||
_xifexpression = p.getMaxLinearAcceleration();
|
||||
} else {
|
||||
_xifexpression = p.getMaxLinearSpeed();
|
||||
}
|
||||
return _xifexpression;
|
||||
}
|
||||
|
||||
@Pure
|
||||
protected float getMaxAngular(final fr.utbm.info.vi51.framework.environment.Percept p) {
|
||||
float _xifexpression = (float) 0;
|
||||
boolean _equals = Objects.equal(this.behaviorType, DynamicType.STEERING);
|
||||
if (_equals) {
|
||||
_xifexpression = p.getMaxAngularAcceleration();
|
||||
} else {
|
||||
_xifexpression = p.getMaxAngularSpeed();
|
||||
}
|
||||
return _xifexpression;
|
||||
}
|
||||
|
||||
protected void emitInfluence(final BehaviourOutput output, final Influence... influences) {
|
||||
if ((output != null)) {
|
||||
DynamicType _type = output.getType();
|
||||
boolean _tripleEquals = (_type == DynamicType.STEERING);
|
||||
if (_tripleEquals) {
|
||||
Vector2f _linear = output.getLinear();
|
||||
float _angular = output.getAngular();
|
||||
this.influenceSteering(_linear, _angular, influences);
|
||||
} else {
|
||||
Vector2f _linear_1 = output.getLinear();
|
||||
float _angular_1 = output.getAngular();
|
||||
this.influenceKinematic(_linear_1, _angular_1, influences);
|
||||
}
|
||||
} else {
|
||||
Vector2f _vector2f = new Vector2f();
|
||||
this.influenceSteering(_vector2f, 0f, influences);
|
||||
}
|
||||
}
|
||||
|
||||
protected void doNothing() {
|
||||
Vector2f _vector2f = new Vector2f();
|
||||
this.influenceKinematic(_vector2f, 0f);
|
||||
}
|
||||
|
||||
protected fr.utbm.info.vi51.framework.environment.Percept first(final List<fr.utbm.info.vi51.framework.environment.Percept> list) {
|
||||
fr.utbm.info.vi51.framework.environment.Percept _xifexpression = null;
|
||||
boolean _isEmpty = list.isEmpty();
|
||||
if (_isEmpty) {
|
||||
_xifexpression = null;
|
||||
} else {
|
||||
_xifexpression = list.get(0);
|
||||
}
|
||||
return _xifexpression;
|
||||
}
|
||||
|
||||
@Percept
|
||||
public void _handle_StopSimulation_1(final StopSimulation occurrence) {
|
||||
this.killMe();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link fr.utbm.info.vi51.framework.agent.PhysicEnvironment#influenceKinematic(fr.utbm.info.vi51.framework.environment.Influence[])}.
|
||||
*
|
||||
* @see fr.utbm.info.vi51.framework.agent.PhysicEnvironment#influenceKinematic(fr.utbm.info.vi51.framework.environment.Influence[])
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(PhysicEnvironment.class)
|
||||
protected void influenceKinematic(final Influence... otherInfluences) {
|
||||
getSkill(fr.utbm.info.vi51.framework.agent.PhysicEnvironment.class).influenceKinematic(otherInfluences);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link fr.utbm.info.vi51.framework.agent.PhysicEnvironment#influenceKinematic(float,fr.utbm.info.vi51.framework.environment.Influence[])}.
|
||||
*
|
||||
* @see fr.utbm.info.vi51.framework.agent.PhysicEnvironment#influenceKinematic(float,fr.utbm.info.vi51.framework.environment.Influence[])
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(PhysicEnvironment.class)
|
||||
protected void influenceKinematic(final float angularInfluence, final Influence... otherInfluences) {
|
||||
getSkill(fr.utbm.info.vi51.framework.agent.PhysicEnvironment.class).influenceKinematic(angularInfluence, otherInfluences);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link fr.utbm.info.vi51.framework.agent.PhysicEnvironment#influenceKinematic(fr.utbm.info.vi51.framework.math.Vector2f,fr.utbm.info.vi51.framework.environment.Influence[])}.
|
||||
*
|
||||
* @see fr.utbm.info.vi51.framework.agent.PhysicEnvironment#influenceKinematic(fr.utbm.info.vi51.framework.math.Vector2f,fr.utbm.info.vi51.framework.environment.Influence[])
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(PhysicEnvironment.class)
|
||||
protected void influenceKinematic(final Vector2f linearInfluence, final Influence... otherInfluences) {
|
||||
getSkill(fr.utbm.info.vi51.framework.agent.PhysicEnvironment.class).influenceKinematic(linearInfluence, otherInfluences);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link fr.utbm.info.vi51.framework.agent.PhysicEnvironment#influenceKinematic(fr.utbm.info.vi51.framework.math.Vector2f,float,fr.utbm.info.vi51.framework.environment.Influence[])}.
|
||||
*
|
||||
* @see fr.utbm.info.vi51.framework.agent.PhysicEnvironment#influenceKinematic(fr.utbm.info.vi51.framework.math.Vector2f,float,fr.utbm.info.vi51.framework.environment.Influence[])
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(PhysicEnvironment.class)
|
||||
protected void influenceKinematic(final Vector2f linearInfluence, final float angularInfluence, final Influence... otherInfluences) {
|
||||
getSkill(fr.utbm.info.vi51.framework.agent.PhysicEnvironment.class).influenceKinematic(linearInfluence, angularInfluence, otherInfluences);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link fr.utbm.info.vi51.framework.agent.PhysicEnvironment#influenceSteering(fr.utbm.info.vi51.framework.environment.Influence[])}.
|
||||
*
|
||||
* @see fr.utbm.info.vi51.framework.agent.PhysicEnvironment#influenceSteering(fr.utbm.info.vi51.framework.environment.Influence[])
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(PhysicEnvironment.class)
|
||||
protected void influenceSteering(final Influence... otherInfluences) {
|
||||
getSkill(fr.utbm.info.vi51.framework.agent.PhysicEnvironment.class).influenceSteering(otherInfluences);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link fr.utbm.info.vi51.framework.agent.PhysicEnvironment#influenceSteering(float,fr.utbm.info.vi51.framework.environment.Influence[])}.
|
||||
*
|
||||
* @see fr.utbm.info.vi51.framework.agent.PhysicEnvironment#influenceSteering(float,fr.utbm.info.vi51.framework.environment.Influence[])
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(PhysicEnvironment.class)
|
||||
protected void influenceSteering(final float angularInfluence, final Influence... otherInfluences) {
|
||||
getSkill(fr.utbm.info.vi51.framework.agent.PhysicEnvironment.class).influenceSteering(angularInfluence, otherInfluences);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link fr.utbm.info.vi51.framework.agent.PhysicEnvironment#influenceSteering(fr.utbm.info.vi51.framework.math.Vector2f,fr.utbm.info.vi51.framework.environment.Influence[])}.
|
||||
*
|
||||
* @see fr.utbm.info.vi51.framework.agent.PhysicEnvironment#influenceSteering(fr.utbm.info.vi51.framework.math.Vector2f,fr.utbm.info.vi51.framework.environment.Influence[])
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(PhysicEnvironment.class)
|
||||
protected void influenceSteering(final Vector2f linearInfluence, final Influence... otherInfluences) {
|
||||
getSkill(fr.utbm.info.vi51.framework.agent.PhysicEnvironment.class).influenceSteering(linearInfluence, otherInfluences);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link fr.utbm.info.vi51.framework.agent.PhysicEnvironment#influenceSteering(fr.utbm.info.vi51.framework.math.Vector2f,float,fr.utbm.info.vi51.framework.environment.Influence[])}.
|
||||
*
|
||||
* @see fr.utbm.info.vi51.framework.agent.PhysicEnvironment#influenceSteering(fr.utbm.info.vi51.framework.math.Vector2f,float,fr.utbm.info.vi51.framework.environment.Influence[])
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(PhysicEnvironment.class)
|
||||
protected void influenceSteering(final Vector2f linearInfluence, final float angularInfluence, final Influence... otherInfluences) {
|
||||
getSkill(fr.utbm.info.vi51.framework.agent.PhysicEnvironment.class).influenceSteering(linearInfluence, angularInfluence, otherInfluences);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Lifecycle#killMe()}.
|
||||
*
|
||||
* @see io.sarl.core.Lifecycle#killMe()
|
||||
*/
|
||||
@EarlyExit
|
||||
@FiredEvent({ AgentKilled.class, Destroy.class })
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Lifecycle.class)
|
||||
protected void killMe() {
|
||||
getSkill(io.sarl.core.Lifecycle.class).killMe();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Lifecycle#spawnInContext(java.lang.Class<? extends io.sarl.lang.core.Agent>,io.sarl.lang.core.AgentContext,java.lang.Object[])}.
|
||||
*
|
||||
* @see io.sarl.core.Lifecycle#spawnInContext(java.lang.Class<? extends io.sarl.lang.core.Agent>,io.sarl.lang.core.AgentContext,java.lang.Object[])
|
||||
*/
|
||||
@FiredEvent(AgentSpawned.class)
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Lifecycle.class)
|
||||
protected UUID spawnInContext(final Class<? extends Agent> arg0, final AgentContext arg1, final Object... arg2) {
|
||||
return getSkill(io.sarl.core.Lifecycle.class).spawnInContext(arg0, arg1, arg2);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Lifecycle#spawnInContextWithID(java.lang.Class<? extends io.sarl.lang.core.Agent>,java.util.UUID,io.sarl.lang.core.AgentContext,java.lang.Object[])}.
|
||||
*
|
||||
* @see io.sarl.core.Lifecycle#spawnInContextWithID(java.lang.Class<? extends io.sarl.lang.core.Agent>,java.util.UUID,io.sarl.lang.core.AgentContext,java.lang.Object[])
|
||||
*/
|
||||
@FiredEvent(AgentSpawned.class)
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Lifecycle.class)
|
||||
protected UUID spawnInContextWithID(final Class<? extends Agent> arg0, final UUID arg1, final AgentContext arg2, final Object... arg3) {
|
||||
return getSkill(io.sarl.core.Lifecycle.class).spawnInContextWithID(arg0, arg1, arg2, arg3);
|
||||
}
|
||||
|
||||
/**
|
||||
* Construct an agent.
|
||||
* @param builtinCapacityProvider - provider of the built-in capacities.
|
||||
* @param parentID - identifier of the parent. It is the identifier of the parent agent and the enclosing contect, at the same time.
|
||||
* @param agentID - identifier of the agent. If <code>null</code> the agent identifier will be computed randomly.
|
||||
*/
|
||||
@Inject
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public AbstractAnimat(final BuiltinCapacitiesProvider builtinCapacityProvider, final UUID parentID, final UUID agentID) {
|
||||
super(builtinCapacityProvider, parentID, agentID);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,147 @@
|
|||
/**
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2014-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.framework.agent;
|
||||
|
||||
import fr.utbm.info.vi51.framework.environment.Influence;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import io.sarl.lang.annotation.DefaultValue;
|
||||
import io.sarl.lang.annotation.DefaultValueSource;
|
||||
import io.sarl.lang.annotation.DefaultValueUse;
|
||||
import io.sarl.lang.annotation.SarlSourceCode;
|
||||
import io.sarl.lang.core.Capacity;
|
||||
import javax.annotation.Generated;
|
||||
|
||||
@SuppressWarnings("all")
|
||||
public interface PhysicEnvironment extends Capacity {
|
||||
/**
|
||||
* Invoked to send the influence to the environment.
|
||||
*
|
||||
* @param linearInfluence is the linear influence to apply on the object.
|
||||
* @param angularInfluence is the angular influence to apply on the object.
|
||||
* @param otherInfluences other influences to emit in parallel to the motion influence.
|
||||
*/
|
||||
@DefaultValueSource
|
||||
public abstract void influenceKinematic(@DefaultValue("fr.utbm.info.vi51.framework.agent.PhysicEnvironment#INFLUENCEKINEMATIC_0") final Vector2f linearInfluence, @DefaultValue("fr.utbm.info.vi51.framework.agent.PhysicEnvironment#INFLUENCEKINEMATIC_1") final float angularInfluence, final Influence... otherInfluences);
|
||||
|
||||
/**
|
||||
* Default value for the parameter linearInfluence
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@SarlSourceCode(" null")
|
||||
public final static Vector2f ___FORMAL_PARAMETER_DEFAULT_VALUE_INFLUENCEKINEMATIC_0 = null;
|
||||
|
||||
/**
|
||||
* Default value for the parameter angularInfluence
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@SarlSourceCode(" 0f")
|
||||
public final static float ___FORMAL_PARAMETER_DEFAULT_VALUE_INFLUENCEKINEMATIC_1 = 0f;
|
||||
|
||||
/**
|
||||
* Invoked to send the influence to the environment.
|
||||
*
|
||||
* @param linearInfluence is the linear influence to apply on the object.
|
||||
* @param angularInfluence is the angular influence to apply on the object.
|
||||
* @param otherInfluences other influences to emit in parallel to the motion influence.
|
||||
*/
|
||||
@DefaultValueSource
|
||||
public abstract void influenceSteering(@DefaultValue("fr.utbm.info.vi51.framework.agent.PhysicEnvironment#INFLUENCESTEERING_0") final Vector2f linearInfluence, @DefaultValue("fr.utbm.info.vi51.framework.agent.PhysicEnvironment#INFLUENCESTEERING_1") final float angularInfluence, final Influence... otherInfluences);
|
||||
|
||||
/**
|
||||
* Default value for the parameter linearInfluence
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@SarlSourceCode(" null")
|
||||
public final static Vector2f ___FORMAL_PARAMETER_DEFAULT_VALUE_INFLUENCESTEERING_0 = null;
|
||||
|
||||
/**
|
||||
* Default value for the parameter angularInfluence
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@SarlSourceCode(" 0f")
|
||||
public final static float ___FORMAL_PARAMETER_DEFAULT_VALUE_INFLUENCESTEERING_1 = 0f;
|
||||
|
||||
/**
|
||||
* Invoked to send the influence to the environment.
|
||||
*
|
||||
* @optionalparam linearInfluence is the linear influence to apply on the object.
|
||||
* @optionalparam angularInfluence is the angular influence to apply on the object.
|
||||
* @param otherInfluences other influences to emit in parallel to the motion influence.
|
||||
*/
|
||||
@DefaultValueUse("fr.utbm.info.vi51.framework.math.Vector2f,float,fr.utbm.info.vi51.framework.environment.Influence*")
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public abstract void influenceKinematic(final Influence... otherInfluences);
|
||||
|
||||
/**
|
||||
* Invoked to send the influence to the environment.
|
||||
*
|
||||
* @optionalparam linearInfluence is the linear influence to apply on the object.
|
||||
* @param angularInfluence is the angular influence to apply on the object.
|
||||
* @param otherInfluences other influences to emit in parallel to the motion influence.
|
||||
*/
|
||||
@DefaultValueUse("fr.utbm.info.vi51.framework.math.Vector2f,float,fr.utbm.info.vi51.framework.environment.Influence*")
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public abstract void influenceKinematic(final float angularInfluence, final Influence... otherInfluences);
|
||||
|
||||
/**
|
||||
* Invoked to send the influence to the environment.
|
||||
*
|
||||
* @param linearInfluence is the linear influence to apply on the object.
|
||||
* @optionalparam angularInfluence is the angular influence to apply on the object.
|
||||
* @param otherInfluences other influences to emit in parallel to the motion influence.
|
||||
*/
|
||||
@DefaultValueUse("fr.utbm.info.vi51.framework.math.Vector2f,float,fr.utbm.info.vi51.framework.environment.Influence*")
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public abstract void influenceKinematic(final Vector2f linearInfluence, final Influence... otherInfluences);
|
||||
|
||||
/**
|
||||
* Invoked to send the influence to the environment.
|
||||
*
|
||||
* @optionalparam linearInfluence is the linear influence to apply on the object.
|
||||
* @optionalparam angularInfluence is the angular influence to apply on the object.
|
||||
* @param otherInfluences other influences to emit in parallel to the motion influence.
|
||||
*/
|
||||
@DefaultValueUse("fr.utbm.info.vi51.framework.math.Vector2f,float,fr.utbm.info.vi51.framework.environment.Influence*")
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public abstract void influenceSteering(final Influence... otherInfluences);
|
||||
|
||||
/**
|
||||
* Invoked to send the influence to the environment.
|
||||
*
|
||||
* @optionalparam linearInfluence is the linear influence to apply on the object.
|
||||
* @param angularInfluence is the angular influence to apply on the object.
|
||||
* @param otherInfluences other influences to emit in parallel to the motion influence.
|
||||
*/
|
||||
@DefaultValueUse("fr.utbm.info.vi51.framework.math.Vector2f,float,fr.utbm.info.vi51.framework.environment.Influence*")
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public abstract void influenceSteering(final float angularInfluence, final Influence... otherInfluences);
|
||||
|
||||
/**
|
||||
* Invoked to send the influence to the environment.
|
||||
*
|
||||
* @param linearInfluence is the linear influence to apply on the object.
|
||||
* @optionalparam angularInfluence is the angular influence to apply on the object.
|
||||
* @param otherInfluences other influences to emit in parallel to the motion influence.
|
||||
*/
|
||||
@DefaultValueUse("fr.utbm.info.vi51.framework.math.Vector2f,float,fr.utbm.info.vi51.framework.environment.Influence*")
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public abstract void influenceSteering(final Vector2f linearInfluence, final Influence... otherInfluences);
|
||||
}
|
||||
|
|
@ -0,0 +1,410 @@
|
|||
/**
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2014-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.framework.agent;
|
||||
|
||||
import fr.utbm.info.vi51.framework.agent.PhysicEnvironment;
|
||||
import fr.utbm.info.vi51.framework.environment.DynamicType;
|
||||
import fr.utbm.info.vi51.framework.environment.Influence;
|
||||
import fr.utbm.info.vi51.framework.environment.InfluenceEvent;
|
||||
import fr.utbm.info.vi51.framework.environment.KillInfluence;
|
||||
import fr.utbm.info.vi51.framework.environment.MotionInfluence;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.framework.util.AddressUUIDScope;
|
||||
import io.sarl.core.AgentSpawned;
|
||||
import io.sarl.core.Behaviors;
|
||||
import io.sarl.core.DefaultContextInteractions;
|
||||
import io.sarl.lang.annotation.DefaultValue;
|
||||
import io.sarl.lang.annotation.DefaultValueSource;
|
||||
import io.sarl.lang.annotation.DefaultValueUse;
|
||||
import io.sarl.lang.annotation.FiredEvent;
|
||||
import io.sarl.lang.annotation.ImportedCapacityFeature;
|
||||
import io.sarl.lang.annotation.SarlSourceCode;
|
||||
import io.sarl.lang.core.Address;
|
||||
import io.sarl.lang.core.Agent;
|
||||
import io.sarl.lang.core.AgentContext;
|
||||
import io.sarl.lang.core.Behavior;
|
||||
import io.sarl.lang.core.Event;
|
||||
import io.sarl.lang.core.EventListener;
|
||||
import io.sarl.lang.core.EventSpace;
|
||||
import io.sarl.lang.core.Scope;
|
||||
import io.sarl.lang.core.Skill;
|
||||
import io.sarl.lang.core.Space;
|
||||
import io.sarl.lang.core.SpaceID;
|
||||
import io.sarl.util.OpenEventSpace;
|
||||
import java.lang.reflect.Array;
|
||||
import java.util.List;
|
||||
import java.util.UUID;
|
||||
import javax.annotation.Generated;
|
||||
import org.eclipse.xtext.xbase.lib.Conversions;
|
||||
|
||||
@SuppressWarnings("all")
|
||||
public class StandardPhysicEnvironment extends Skill implements PhysicEnvironment {
|
||||
protected final UUID spaceID;
|
||||
|
||||
protected final UUID environmentID;
|
||||
|
||||
protected OpenEventSpace physicSpace;
|
||||
|
||||
protected Address myAdr;
|
||||
|
||||
public StandardPhysicEnvironment(final UUID spaceID, final UUID environmentID) {
|
||||
this.environmentID = environmentID;
|
||||
this.spaceID = spaceID;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void install() {
|
||||
do {
|
||||
{
|
||||
AgentContext _defaultContext = this.getDefaultContext();
|
||||
OpenEventSpace _space = _defaultContext.<OpenEventSpace>getSpace(this.spaceID);
|
||||
this.physicSpace = _space;
|
||||
Thread.yield();
|
||||
}
|
||||
} while((this.physicSpace == null));
|
||||
EventListener _asEventListener = this.asEventListener();
|
||||
this.physicSpace.register(_asEventListener);
|
||||
Agent _owner = this.getOwner();
|
||||
UUID _iD = _owner.getID();
|
||||
Address _address = this.physicSpace.getAddress(_iD);
|
||||
this.myAdr = _address;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void uninstall() {
|
||||
KillInfluence _killInfluence = new KillInfluence();
|
||||
InfluenceEvent event = new InfluenceEvent(_killInfluence);
|
||||
event.setSource(this.myAdr);
|
||||
AddressUUIDScope _addressUUIDScope = new AddressUUIDScope(this.environmentID);
|
||||
this.physicSpace.emit(event, _addressUUIDScope);
|
||||
this.physicSpace = null;
|
||||
}
|
||||
|
||||
@DefaultValueSource
|
||||
@Override
|
||||
public void influenceKinematic(@DefaultValue("fr.utbm.info.vi51.framework.agent.StandardPhysicEnvironment#INFLUENCEKINEMATIC_0") final Vector2f linearInfluence, @DefaultValue("fr.utbm.info.vi51.framework.agent.StandardPhysicEnvironment#INFLUENCEKINEMATIC_1") final float angularInfluence, final Influence... otherInfluences) {
|
||||
MotionInfluence mi = null;
|
||||
boolean _tripleEquals = linearInfluence.operator_tripleEquals(null);
|
||||
if (_tripleEquals) {
|
||||
MotionInfluence _motionInfluence = new MotionInfluence(DynamicType.KINEMATIC, angularInfluence);
|
||||
mi = _motionInfluence;
|
||||
} else {
|
||||
MotionInfluence _motionInfluence_1 = new MotionInfluence(DynamicType.KINEMATIC, linearInfluence, angularInfluence);
|
||||
mi = _motionInfluence_1;
|
||||
}
|
||||
this.emitInfluences(mi, otherInfluences);
|
||||
}
|
||||
|
||||
/**
|
||||
* Default value for the parameter linearInfluence
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@SarlSourceCode(" null")
|
||||
private final static Vector2f ___FORMAL_PARAMETER_DEFAULT_VALUE_INFLUENCEKINEMATIC_0 = null;
|
||||
|
||||
/**
|
||||
* Default value for the parameter angularInfluence
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@SarlSourceCode(" 0f")
|
||||
private final static float ___FORMAL_PARAMETER_DEFAULT_VALUE_INFLUENCEKINEMATIC_1 = 0f;
|
||||
|
||||
@DefaultValueSource
|
||||
@Override
|
||||
public void influenceSteering(@DefaultValue("fr.utbm.info.vi51.framework.agent.StandardPhysicEnvironment#INFLUENCESTEERING_0") final Vector2f linearInfluence, @DefaultValue("fr.utbm.info.vi51.framework.agent.StandardPhysicEnvironment#INFLUENCESTEERING_1") final float angularInfluence, final Influence... otherInfluences) {
|
||||
MotionInfluence mi = null;
|
||||
boolean _tripleEquals = linearInfluence.operator_tripleEquals(null);
|
||||
if (_tripleEquals) {
|
||||
MotionInfluence _motionInfluence = new MotionInfluence(DynamicType.STEERING, angularInfluence);
|
||||
mi = _motionInfluence;
|
||||
} else {
|
||||
MotionInfluence _motionInfluence_1 = new MotionInfluence(DynamicType.STEERING, linearInfluence, angularInfluence);
|
||||
mi = _motionInfluence_1;
|
||||
}
|
||||
this.emitInfluences(mi, otherInfluences);
|
||||
}
|
||||
|
||||
/**
|
||||
* Default value for the parameter linearInfluence
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@SarlSourceCode(" null")
|
||||
private final static Vector2f ___FORMAL_PARAMETER_DEFAULT_VALUE_INFLUENCESTEERING_0 = null;
|
||||
|
||||
/**
|
||||
* Default value for the parameter angularInfluence
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@SarlSourceCode(" 0f")
|
||||
private final static float ___FORMAL_PARAMETER_DEFAULT_VALUE_INFLUENCESTEERING_1 = 0f;
|
||||
|
||||
public void emitInfluences(final MotionInfluence motionInfluence, final Influence... otherInfluences) {
|
||||
Influence[] influences = null;
|
||||
boolean _isEmpty = ((List<Influence>)Conversions.doWrapArray(otherInfluences)).isEmpty();
|
||||
if (_isEmpty) {
|
||||
Object _newInstance = Array.newInstance(Influence.class, 1);
|
||||
influences = ((Influence[]) _newInstance);
|
||||
influences[0] = motionInfluence;
|
||||
} else {
|
||||
int _length = otherInfluences.length;
|
||||
int _plus = (_length + 1);
|
||||
Object _newInstance_1 = Array.newInstance(Influence.class, _plus);
|
||||
influences = ((Influence[]) _newInstance_1);
|
||||
influences[0] = motionInfluence;
|
||||
int _length_1 = otherInfluences.length;
|
||||
System.arraycopy(otherInfluences, 0, influences, 1, _length_1);
|
||||
}
|
||||
InfluenceEvent event = new InfluenceEvent(influences);
|
||||
event.setSource(this.myAdr);
|
||||
AddressUUIDScope _addressUUIDScope = new AddressUUIDScope(this.environmentID);
|
||||
this.physicSpace.emit(event, _addressUUIDScope);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#emit(io.sarl.lang.core.Event)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#emit(io.sarl.lang.core.Event)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected void emit(final Event arg0) {
|
||||
getSkill(io.sarl.core.DefaultContextInteractions.class).emit(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#emit(io.sarl.lang.core.Event,io.sarl.lang.core.Scope<io.sarl.lang.core.Address>)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#emit(io.sarl.lang.core.Event,io.sarl.lang.core.Scope<io.sarl.lang.core.Address>)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected void emit(final Event arg0, final Scope<Address> arg1) {
|
||||
getSkill(io.sarl.core.DefaultContextInteractions.class).emit(arg0, arg1);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#getDefaultAddress()}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#getDefaultAddress()
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected Address getDefaultAddress() {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).getDefaultAddress();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#getDefaultContext()}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#getDefaultContext()
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected AgentContext getDefaultContext() {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).getDefaultContext();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#getDefaultSpace()}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#getDefaultSpace()
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected EventSpace getDefaultSpace() {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).getDefaultSpace();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultContext(io.sarl.lang.core.AgentContext)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isDefaultContext(io.sarl.lang.core.AgentContext)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isDefaultContext(final AgentContext arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultContext(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultContext(java.util.UUID)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isDefaultContext(java.util.UUID)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isDefaultContext(final UUID arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultContext(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultSpace(io.sarl.lang.core.Space)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isDefaultSpace(io.sarl.lang.core.Space)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isDefaultSpace(final Space arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultSpace(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultSpace(io.sarl.lang.core.SpaceID)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isDefaultSpace(io.sarl.lang.core.SpaceID)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isDefaultSpace(final SpaceID arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultSpace(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultSpace(java.util.UUID)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isDefaultSpace(java.util.UUID)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isDefaultSpace(final UUID arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultSpace(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isInDefaultSpace(io.sarl.lang.core.Event)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isInDefaultSpace(io.sarl.lang.core.Event)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isInDefaultSpace(final Event arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isInDefaultSpace(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#receive(java.util.UUID,io.sarl.lang.core.Event)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#receive(java.util.UUID,io.sarl.lang.core.Event)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected void receive(final UUID arg0, final Event arg1) {
|
||||
getSkill(io.sarl.core.DefaultContextInteractions.class).receive(arg0, arg1);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#spawn(java.lang.Class<? extends io.sarl.lang.core.Agent>,java.lang.Object[])}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#spawn(java.lang.Class<? extends io.sarl.lang.core.Agent>,java.lang.Object[])
|
||||
*/
|
||||
@FiredEvent(AgentSpawned.class)
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected UUID spawn(final Class<? extends Agent> arg0, final Object... arg1) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).spawn(arg0, arg1);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Behaviors#asEventListener()}.
|
||||
*
|
||||
* @see io.sarl.core.Behaviors#asEventListener()
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Behaviors.class)
|
||||
protected EventListener asEventListener() {
|
||||
return getSkill(io.sarl.core.Behaviors.class).asEventListener();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Behaviors#registerBehavior(io.sarl.lang.core.Behavior)}.
|
||||
*
|
||||
* @see io.sarl.core.Behaviors#registerBehavior(io.sarl.lang.core.Behavior)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Behaviors.class)
|
||||
protected Behavior registerBehavior(final Behavior arg0) {
|
||||
return getSkill(io.sarl.core.Behaviors.class).registerBehavior(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Behaviors#unregisterBehavior(io.sarl.lang.core.Behavior)}.
|
||||
*
|
||||
* @see io.sarl.core.Behaviors#unregisterBehavior(io.sarl.lang.core.Behavior)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Behaviors.class)
|
||||
protected Behavior unregisterBehavior(final Behavior arg0) {
|
||||
return getSkill(io.sarl.core.Behaviors.class).unregisterBehavior(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Behaviors#wake(io.sarl.lang.core.Event)}.
|
||||
*
|
||||
* @see io.sarl.core.Behaviors#wake(io.sarl.lang.core.Event)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Behaviors.class)
|
||||
protected void wake(final Event arg0) {
|
||||
getSkill(io.sarl.core.Behaviors.class).wake(arg0);
|
||||
}
|
||||
|
||||
@DefaultValueUse("fr.utbm.info.vi51.framework.math.Vector2f,float,fr.utbm.info.vi51.framework.environment.Influence*")
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@Override
|
||||
public final void influenceKinematic(final Influence... otherInfluences) {
|
||||
influenceKinematic(___FORMAL_PARAMETER_DEFAULT_VALUE_INFLUENCEKINEMATIC_0, ___FORMAL_PARAMETER_DEFAULT_VALUE_INFLUENCEKINEMATIC_1, otherInfluences);
|
||||
}
|
||||
|
||||
@DefaultValueUse("fr.utbm.info.vi51.framework.math.Vector2f,float,fr.utbm.info.vi51.framework.environment.Influence*")
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@Override
|
||||
public final void influenceKinematic(final float angularInfluence, final Influence... otherInfluences) {
|
||||
influenceKinematic(___FORMAL_PARAMETER_DEFAULT_VALUE_INFLUENCEKINEMATIC_0, angularInfluence, otherInfluences);
|
||||
}
|
||||
|
||||
@DefaultValueUse("fr.utbm.info.vi51.framework.math.Vector2f,float,fr.utbm.info.vi51.framework.environment.Influence*")
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@Override
|
||||
public final void influenceKinematic(final Vector2f linearInfluence, final Influence... otherInfluences) {
|
||||
influenceKinematic(linearInfluence, ___FORMAL_PARAMETER_DEFAULT_VALUE_INFLUENCEKINEMATIC_1, otherInfluences);
|
||||
}
|
||||
|
||||
@DefaultValueUse("fr.utbm.info.vi51.framework.math.Vector2f,float,fr.utbm.info.vi51.framework.environment.Influence*")
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@Override
|
||||
public final void influenceSteering(final Influence... otherInfluences) {
|
||||
influenceSteering(___FORMAL_PARAMETER_DEFAULT_VALUE_INFLUENCESTEERING_0, ___FORMAL_PARAMETER_DEFAULT_VALUE_INFLUENCESTEERING_1, otherInfluences);
|
||||
}
|
||||
|
||||
@DefaultValueUse("fr.utbm.info.vi51.framework.math.Vector2f,float,fr.utbm.info.vi51.framework.environment.Influence*")
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@Override
|
||||
public final void influenceSteering(final float angularInfluence, final Influence... otherInfluences) {
|
||||
influenceSteering(___FORMAL_PARAMETER_DEFAULT_VALUE_INFLUENCESTEERING_0, angularInfluence, otherInfluences);
|
||||
}
|
||||
|
||||
@DefaultValueUse("fr.utbm.info.vi51.framework.math.Vector2f,float,fr.utbm.info.vi51.framework.environment.Influence*")
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@Override
|
||||
public final void influenceSteering(final Vector2f linearInfluence, final Influence... otherInfluences) {
|
||||
influenceSteering(linearInfluence, ___FORMAL_PARAMETER_DEFAULT_VALUE_INFLUENCESTEERING_1, otherInfluences);
|
||||
}
|
||||
}
|
||||
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|
|
@ -0,0 +1,428 @@
|
|||
/**
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2014-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.framework.environment;
|
||||
|
||||
import fr.utbm.info.vi51.framework.environment.AgentBody;
|
||||
import fr.utbm.info.vi51.framework.environment.Environment;
|
||||
import fr.utbm.info.vi51.framework.environment.Influence;
|
||||
import fr.utbm.info.vi51.framework.environment.InfluenceEvent;
|
||||
import fr.utbm.info.vi51.framework.environment.PerceptionEvent;
|
||||
import fr.utbm.info.vi51.framework.environment.SimulationAgentReady;
|
||||
import fr.utbm.info.vi51.framework.environment.StartSimulation;
|
||||
import fr.utbm.info.vi51.framework.environment.StopSimulation;
|
||||
import fr.utbm.info.vi51.framework.time.TimeManager;
|
||||
import fr.utbm.info.vi51.framework.time.TimePercept;
|
||||
import fr.utbm.info.vi51.framework.util.AddressUUIDScope;
|
||||
import io.sarl.core.AgentKilled;
|
||||
import io.sarl.core.AgentSpawned;
|
||||
import io.sarl.core.Behaviors;
|
||||
import io.sarl.core.DefaultContextInteractions;
|
||||
import io.sarl.core.Destroy;
|
||||
import io.sarl.core.Initialize;
|
||||
import io.sarl.core.Lifecycle;
|
||||
import io.sarl.lang.annotation.EarlyExit;
|
||||
import io.sarl.lang.annotation.FiredEvent;
|
||||
import io.sarl.lang.annotation.ImportedCapacityFeature;
|
||||
import io.sarl.lang.annotation.SarlSpecification;
|
||||
import io.sarl.lang.core.Address;
|
||||
import io.sarl.lang.core.Agent;
|
||||
import io.sarl.lang.core.AgentContext;
|
||||
import io.sarl.lang.core.Behavior;
|
||||
import io.sarl.lang.core.BuiltinCapacitiesProvider;
|
||||
import io.sarl.lang.core.Event;
|
||||
import io.sarl.lang.core.EventListener;
|
||||
import io.sarl.lang.core.EventSpace;
|
||||
import io.sarl.lang.core.Percept;
|
||||
import io.sarl.lang.core.Scope;
|
||||
import io.sarl.lang.core.Space;
|
||||
import io.sarl.lang.core.SpaceID;
|
||||
import io.sarl.util.OpenEventSpace;
|
||||
import java.util.List;
|
||||
import java.util.UUID;
|
||||
import java.util.concurrent.atomic.AtomicBoolean;
|
||||
import javax.annotation.Generated;
|
||||
import javax.inject.Inject;
|
||||
import org.eclipse.xtext.xbase.lib.Exceptions;
|
||||
import org.eclipse.xtext.xbase.lib.Pure;
|
||||
|
||||
/**
|
||||
* This agent is managing the physic space.
|
||||
*
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
*/
|
||||
@SarlSpecification("0.3")
|
||||
@SuppressWarnings("all")
|
||||
public class EnvironmentAgent extends Agent {
|
||||
protected Environment environment;
|
||||
|
||||
protected OpenEventSpace space;
|
||||
|
||||
protected Address myAdr;
|
||||
|
||||
protected int influences = 0;
|
||||
|
||||
protected final AtomicBoolean freeze = new AtomicBoolean(false);
|
||||
|
||||
@Percept
|
||||
public void _handle_Initialize_0(final Initialize occurrence) {
|
||||
Object _get = occurrence.parameters[0];
|
||||
this.environment = ((Environment) _get);
|
||||
Object _get_1 = occurrence.parameters[1];
|
||||
UUID spaceId = ((UUID) _get_1);
|
||||
AgentContext _defaultContext = this.getDefaultContext();
|
||||
OpenEventSpace _space = _defaultContext.<OpenEventSpace>getSpace(spaceId);
|
||||
this.space = _space;
|
||||
EventListener _asEventListener = this.asEventListener();
|
||||
this.space.register(_asEventListener);
|
||||
UUID _iD = this.getID();
|
||||
Address _address = this.space.getAddress(_iD);
|
||||
this.myAdr = _address;
|
||||
SimulationAgentReady _simulationAgentReady = new SimulationAgentReady();
|
||||
this.emit(_simulationAgentReady);
|
||||
}
|
||||
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@Pure
|
||||
private boolean _eventhandler_guard_InfluenceEvent_1(final InfluenceEvent it, final InfluenceEvent occurrence) {
|
||||
boolean _get = this.freeze.get();
|
||||
boolean _not = (!_get);
|
||||
return _not;
|
||||
}
|
||||
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
private void _eventhandler_body_InfluenceEvent_1(final InfluenceEvent occurrence) {
|
||||
for (final Influence influence : occurrence.influences) {
|
||||
{
|
||||
UUID id = influence.getEmitter();
|
||||
if ((id == null)) {
|
||||
Address _source = occurrence.getSource();
|
||||
UUID _uUID = _source.getUUID();
|
||||
id = _uUID;
|
||||
}
|
||||
AgentBody body = this.environment.getAgentBodyFor(id);
|
||||
body.influence(influence);
|
||||
}
|
||||
}
|
||||
this.influences++;
|
||||
int _agentBodyNumber = this.environment.getAgentBodyNumber();
|
||||
boolean _greaterEqualsThan = (this.influences >= _agentBodyNumber);
|
||||
if (_greaterEqualsThan) {
|
||||
this.runEnvironmentBehavior();
|
||||
}
|
||||
}
|
||||
|
||||
@Percept
|
||||
public void _handle_InfluenceEvent_1(final InfluenceEvent occurrence) {
|
||||
if (_eventhandler_guard_InfluenceEvent_1(occurrence, occurrence)) {
|
||||
_eventhandler_body_InfluenceEvent_1(occurrence);
|
||||
}
|
||||
}
|
||||
|
||||
@Percept
|
||||
public void _handle_StopSimulation_2(final StopSimulation occurrence) {
|
||||
this.killMe();
|
||||
}
|
||||
|
||||
@Percept
|
||||
public void _handle_StartSimulation_3(final StartSimulation occurrence) {
|
||||
this.runEnvironmentBehavior();
|
||||
}
|
||||
|
||||
protected void runEnvironmentBehavior() {
|
||||
try {
|
||||
this.freeze.set(true);
|
||||
this.influences = 0;
|
||||
this.environment.runBehaviour();
|
||||
TimeManager _timeManager = this.environment.getTimeManager();
|
||||
float _simulationDelay = _timeManager.getSimulationDelay();
|
||||
long delay = ((long) _simulationDelay);
|
||||
if ((delay > 0)) {
|
||||
Thread.sleep(delay);
|
||||
}
|
||||
this.freeze.set(false);
|
||||
this.notifyAgentsOrDie();
|
||||
} catch (Throwable _e) {
|
||||
throw Exceptions.sneakyThrow(_e);
|
||||
}
|
||||
}
|
||||
|
||||
protected void notifyAgentsOrDie() {
|
||||
boolean run = false;
|
||||
TimeManager _timeManager = this.environment.getTimeManager();
|
||||
float _currentTime = _timeManager.getCurrentTime();
|
||||
TimeManager _timeManager_1 = this.environment.getTimeManager();
|
||||
float _lastStepDuration = _timeManager_1.getLastStepDuration();
|
||||
final TimePercept timePercept = new TimePercept(_currentTime, _lastStepDuration);
|
||||
Iterable<? extends AgentBody> _agentBodies = this.environment.getAgentBodies();
|
||||
for (final AgentBody body : _agentBodies) {
|
||||
{
|
||||
run = true;
|
||||
List<fr.utbm.info.vi51.framework.environment.Percept> _perceivedObjects = body.getPerceivedObjects();
|
||||
fr.utbm.info.vi51.framework.environment.Percept _percept = new fr.utbm.info.vi51.framework.environment.Percept(body);
|
||||
PerceptionEvent event = new PerceptionEvent(_perceivedObjects, _percept, timePercept);
|
||||
event.setSource(this.myAdr);
|
||||
UUID _iD = body.getID();
|
||||
AddressUUIDScope _addressUUIDScope = new AddressUUIDScope(_iD);
|
||||
this.space.emit(event, _addressUUIDScope);
|
||||
}
|
||||
}
|
||||
if ((!run)) {
|
||||
this.killMe();
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#emit(io.sarl.lang.core.Event)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#emit(io.sarl.lang.core.Event)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected void emit(final Event arg0) {
|
||||
getSkill(io.sarl.core.DefaultContextInteractions.class).emit(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#emit(io.sarl.lang.core.Event,io.sarl.lang.core.Scope<io.sarl.lang.core.Address>)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#emit(io.sarl.lang.core.Event,io.sarl.lang.core.Scope<io.sarl.lang.core.Address>)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected void emit(final Event arg0, final Scope<Address> arg1) {
|
||||
getSkill(io.sarl.core.DefaultContextInteractions.class).emit(arg0, arg1);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#getDefaultAddress()}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#getDefaultAddress()
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected Address getDefaultAddress() {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).getDefaultAddress();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#getDefaultContext()}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#getDefaultContext()
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected AgentContext getDefaultContext() {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).getDefaultContext();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#getDefaultSpace()}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#getDefaultSpace()
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected EventSpace getDefaultSpace() {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).getDefaultSpace();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultContext(io.sarl.lang.core.AgentContext)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isDefaultContext(io.sarl.lang.core.AgentContext)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isDefaultContext(final AgentContext arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultContext(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultContext(java.util.UUID)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isDefaultContext(java.util.UUID)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isDefaultContext(final UUID arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultContext(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultSpace(io.sarl.lang.core.Space)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isDefaultSpace(io.sarl.lang.core.Space)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isDefaultSpace(final Space arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultSpace(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultSpace(io.sarl.lang.core.SpaceID)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isDefaultSpace(io.sarl.lang.core.SpaceID)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isDefaultSpace(final SpaceID arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultSpace(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isDefaultSpace(java.util.UUID)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isDefaultSpace(java.util.UUID)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isDefaultSpace(final UUID arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isDefaultSpace(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#isInDefaultSpace(io.sarl.lang.core.Event)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#isInDefaultSpace(io.sarl.lang.core.Event)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected boolean isInDefaultSpace(final Event arg0) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).isInDefaultSpace(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#receive(java.util.UUID,io.sarl.lang.core.Event)}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#receive(java.util.UUID,io.sarl.lang.core.Event)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected void receive(final UUID arg0, final Event arg1) {
|
||||
getSkill(io.sarl.core.DefaultContextInteractions.class).receive(arg0, arg1);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.DefaultContextInteractions#spawn(java.lang.Class<? extends io.sarl.lang.core.Agent>,java.lang.Object[])}.
|
||||
*
|
||||
* @see io.sarl.core.DefaultContextInteractions#spawn(java.lang.Class<? extends io.sarl.lang.core.Agent>,java.lang.Object[])
|
||||
*/
|
||||
@FiredEvent(AgentSpawned.class)
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(DefaultContextInteractions.class)
|
||||
protected UUID spawn(final Class<? extends Agent> arg0, final Object... arg1) {
|
||||
return getSkill(io.sarl.core.DefaultContextInteractions.class).spawn(arg0, arg1);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Lifecycle#killMe()}.
|
||||
*
|
||||
* @see io.sarl.core.Lifecycle#killMe()
|
||||
*/
|
||||
@EarlyExit
|
||||
@FiredEvent({ AgentKilled.class, Destroy.class })
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Lifecycle.class)
|
||||
protected void killMe() {
|
||||
getSkill(io.sarl.core.Lifecycle.class).killMe();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Lifecycle#spawnInContext(java.lang.Class<? extends io.sarl.lang.core.Agent>,io.sarl.lang.core.AgentContext,java.lang.Object[])}.
|
||||
*
|
||||
* @see io.sarl.core.Lifecycle#spawnInContext(java.lang.Class<? extends io.sarl.lang.core.Agent>,io.sarl.lang.core.AgentContext,java.lang.Object[])
|
||||
*/
|
||||
@FiredEvent(AgentSpawned.class)
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Lifecycle.class)
|
||||
protected UUID spawnInContext(final Class<? extends Agent> arg0, final AgentContext arg1, final Object... arg2) {
|
||||
return getSkill(io.sarl.core.Lifecycle.class).spawnInContext(arg0, arg1, arg2);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Lifecycle#spawnInContextWithID(java.lang.Class<? extends io.sarl.lang.core.Agent>,java.util.UUID,io.sarl.lang.core.AgentContext,java.lang.Object[])}.
|
||||
*
|
||||
* @see io.sarl.core.Lifecycle#spawnInContextWithID(java.lang.Class<? extends io.sarl.lang.core.Agent>,java.util.UUID,io.sarl.lang.core.AgentContext,java.lang.Object[])
|
||||
*/
|
||||
@FiredEvent(AgentSpawned.class)
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Lifecycle.class)
|
||||
protected UUID spawnInContextWithID(final Class<? extends Agent> arg0, final UUID arg1, final AgentContext arg2, final Object... arg3) {
|
||||
return getSkill(io.sarl.core.Lifecycle.class).spawnInContextWithID(arg0, arg1, arg2, arg3);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Behaviors#asEventListener()}.
|
||||
*
|
||||
* @see io.sarl.core.Behaviors#asEventListener()
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Behaviors.class)
|
||||
protected EventListener asEventListener() {
|
||||
return getSkill(io.sarl.core.Behaviors.class).asEventListener();
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Behaviors#registerBehavior(io.sarl.lang.core.Behavior)}.
|
||||
*
|
||||
* @see io.sarl.core.Behaviors#registerBehavior(io.sarl.lang.core.Behavior)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Behaviors.class)
|
||||
protected Behavior registerBehavior(final Behavior arg0) {
|
||||
return getSkill(io.sarl.core.Behaviors.class).registerBehavior(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Behaviors#unregisterBehavior(io.sarl.lang.core.Behavior)}.
|
||||
*
|
||||
* @see io.sarl.core.Behaviors#unregisterBehavior(io.sarl.lang.core.Behavior)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Behaviors.class)
|
||||
protected Behavior unregisterBehavior(final Behavior arg0) {
|
||||
return getSkill(io.sarl.core.Behaviors.class).unregisterBehavior(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* See the capacity {@link io.sarl.core.Behaviors#wake(io.sarl.lang.core.Event)}.
|
||||
*
|
||||
* @see io.sarl.core.Behaviors#wake(io.sarl.lang.core.Event)
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@ImportedCapacityFeature(Behaviors.class)
|
||||
protected void wake(final Event arg0) {
|
||||
getSkill(io.sarl.core.Behaviors.class).wake(arg0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Construct an agent.
|
||||
* @param builtinCapacityProvider - provider of the built-in capacities.
|
||||
* @param parentID - identifier of the parent. It is the identifier of the parent agent and the enclosing contect, at the same time.
|
||||
* @param agentID - identifier of the agent. If <code>null</code> the agent identifier will be computed randomly.
|
||||
*/
|
||||
@Inject
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public EnvironmentAgent(final BuiltinCapacitiesProvider builtinCapacityProvider, final UUID parentID, final UUID agentID) {
|
||||
super(builtinCapacityProvider, parentID, agentID);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,87 @@
|
|||
/**
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2014-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.framework.environment;
|
||||
|
||||
import fr.utbm.info.vi51.framework.environment.Influence;
|
||||
import io.sarl.lang.annotation.SarlSpecification;
|
||||
import io.sarl.lang.core.Event;
|
||||
import java.util.List;
|
||||
import javax.annotation.Generated;
|
||||
import org.eclipse.xtext.xbase.lib.Conversions;
|
||||
import org.eclipse.xtext.xbase.lib.Pure;
|
||||
|
||||
/**
|
||||
* This event contains an influence
|
||||
*
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
*/
|
||||
@SarlSpecification("0.3")
|
||||
@SuppressWarnings("all")
|
||||
public class InfluenceEvent extends Event {
|
||||
public final List<Influence> influences;
|
||||
|
||||
public InfluenceEvent(final Influence... e) {
|
||||
this.influences = ((List<Influence>)Conversions.doWrapArray(e));
|
||||
}
|
||||
|
||||
@Override
|
||||
@Pure
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public boolean equals(final Object obj) {
|
||||
if (this == obj)
|
||||
return true;
|
||||
if (obj == null)
|
||||
return false;
|
||||
if (getClass() != obj.getClass())
|
||||
return false;
|
||||
InfluenceEvent other = (InfluenceEvent) obj;
|
||||
if (this.influences == null) {
|
||||
if (other.influences != null)
|
||||
return false;
|
||||
} else if (!this.influences.equals(other.influences))
|
||||
return false;
|
||||
return super.equals(obj);
|
||||
}
|
||||
|
||||
@Override
|
||||
@Pure
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public int hashCode() {
|
||||
final int prime = 31;
|
||||
int result = super.hashCode();
|
||||
result = prime * result + ((this.influences== null) ? 0 : this.influences.hashCode());
|
||||
return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns a String representation of the InfluenceEvent event's attributes only.
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@Pure
|
||||
protected String attributesToString() {
|
||||
StringBuilder result = new StringBuilder(super.attributesToString());
|
||||
result.append("influences = ").append(this.influences);
|
||||
return result.toString();
|
||||
}
|
||||
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
private final static long serialVersionUID = 5240104421L;
|
||||
}
|
||||
|
|
@ -0,0 +1,107 @@
|
|||
/**
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2014-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.framework.environment;
|
||||
|
||||
import fr.utbm.info.vi51.framework.environment.Percept;
|
||||
import fr.utbm.info.vi51.framework.time.TimePercept;
|
||||
import io.sarl.lang.annotation.SarlSpecification;
|
||||
import io.sarl.lang.core.Event;
|
||||
import java.util.List;
|
||||
import javax.annotation.Generated;
|
||||
import org.eclipse.xtext.xbase.lib.Pure;
|
||||
|
||||
/**
|
||||
* This event contains percepts.
|
||||
*
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
*/
|
||||
@SarlSpecification("0.3")
|
||||
@SuppressWarnings("all")
|
||||
public class PerceptionEvent extends Event {
|
||||
public final Percept body;
|
||||
|
||||
public final TimePercept time;
|
||||
|
||||
public final List<Percept> perceptions;
|
||||
|
||||
public PerceptionEvent(final List<Percept> p, final Percept b, final TimePercept t) {
|
||||
this.perceptions = p;
|
||||
this.body = b;
|
||||
this.time = t;
|
||||
}
|
||||
|
||||
@Override
|
||||
@Pure
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public boolean equals(final Object obj) {
|
||||
if (this == obj)
|
||||
return true;
|
||||
if (obj == null)
|
||||
return false;
|
||||
if (getClass() != obj.getClass())
|
||||
return false;
|
||||
PerceptionEvent other = (PerceptionEvent) obj;
|
||||
if (this.body == null) {
|
||||
if (other.body != null)
|
||||
return false;
|
||||
} else if (!this.body.equals(other.body))
|
||||
return false;
|
||||
if (this.time == null) {
|
||||
if (other.time != null)
|
||||
return false;
|
||||
} else if (!this.time.equals(other.time))
|
||||
return false;
|
||||
if (this.perceptions == null) {
|
||||
if (other.perceptions != null)
|
||||
return false;
|
||||
} else if (!this.perceptions.equals(other.perceptions))
|
||||
return false;
|
||||
return super.equals(obj);
|
||||
}
|
||||
|
||||
@Override
|
||||
@Pure
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public int hashCode() {
|
||||
final int prime = 31;
|
||||
int result = super.hashCode();
|
||||
result = prime * result + ((this.body== null) ? 0 : this.body.hashCode());
|
||||
result = prime * result + ((this.time== null) ? 0 : this.time.hashCode());
|
||||
result = prime * result + ((this.perceptions== null) ? 0 : this.perceptions.hashCode());
|
||||
return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns a String representation of the PerceptionEvent event's attributes only.
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
@Pure
|
||||
protected String attributesToString() {
|
||||
StringBuilder result = new StringBuilder(super.attributesToString());
|
||||
result.append("body = ").append(this.body);
|
||||
result.append("time = ").append(this.time);
|
||||
result.append("perceptions = ").append(this.perceptions);
|
||||
return result.toString();
|
||||
}
|
||||
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
private final static long serialVersionUID = 2892685776L;
|
||||
}
|
||||
|
|
@ -0,0 +1,55 @@
|
|||
/**
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2014-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.framework.environment;
|
||||
|
||||
import io.sarl.lang.annotation.SarlSpecification;
|
||||
import io.sarl.lang.core.Address;
|
||||
import io.sarl.lang.core.Event;
|
||||
import javax.annotation.Generated;
|
||||
|
||||
/**
|
||||
* This event is fired when a simulation agent is ready.
|
||||
*
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
*/
|
||||
@SarlSpecification("0.3")
|
||||
@SuppressWarnings("all")
|
||||
public class SimulationAgentReady extends Event {
|
||||
/**
|
||||
* Construct an event. The source of the event is unknown.
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public SimulationAgentReady() {
|
||||
super();
|
||||
}
|
||||
|
||||
/**
|
||||
* Construct an event.
|
||||
* @param source - address of the agent that is emitting this event.
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public SimulationAgentReady(final Address source) {
|
||||
super(source);
|
||||
}
|
||||
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
private final static long serialVersionUID = 588368462L;
|
||||
}
|
||||
|
|
@ -0,0 +1,55 @@
|
|||
/**
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2014-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.framework.environment;
|
||||
|
||||
import io.sarl.lang.annotation.SarlSpecification;
|
||||
import io.sarl.lang.core.Address;
|
||||
import io.sarl.lang.core.Event;
|
||||
import javax.annotation.Generated;
|
||||
|
||||
/**
|
||||
* This event is for starting the simulation.
|
||||
*
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
*/
|
||||
@SarlSpecification("0.3")
|
||||
@SuppressWarnings("all")
|
||||
public class StartSimulation extends Event {
|
||||
/**
|
||||
* Construct an event. The source of the event is unknown.
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public StartSimulation() {
|
||||
super();
|
||||
}
|
||||
|
||||
/**
|
||||
* Construct an event.
|
||||
* @param source - address of the agent that is emitting this event.
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public StartSimulation(final Address source) {
|
||||
super(source);
|
||||
}
|
||||
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
private final static long serialVersionUID = 588368462L;
|
||||
}
|
||||
|
|
@ -0,0 +1,55 @@
|
|||
/**
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2014-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.framework.environment;
|
||||
|
||||
import io.sarl.lang.annotation.SarlSpecification;
|
||||
import io.sarl.lang.core.Address;
|
||||
import io.sarl.lang.core.Event;
|
||||
import javax.annotation.Generated;
|
||||
|
||||
/**
|
||||
* This event is for stopping the simulation.
|
||||
*
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
*/
|
||||
@SarlSpecification("0.3")
|
||||
@SuppressWarnings("all")
|
||||
public class StopSimulation extends Event {
|
||||
/**
|
||||
* Construct an event. The source of the event is unknown.
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public StopSimulation() {
|
||||
super();
|
||||
}
|
||||
|
||||
/**
|
||||
* Construct an event.
|
||||
* @param source - address of the agent that is emitting this event.
|
||||
*/
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
public StopSimulation(final Address source) {
|
||||
super(source);
|
||||
}
|
||||
|
||||
@Generated("io.sarl.lang.jvmmodel.SARLJvmModelInferrer")
|
||||
private final static long serialVersionUID = 588368462L;
|
||||
}
|
||||
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|
|
@ -0,0 +1,23 @@
|
|||
package fr.utbm.info.vi51.motionbehavior;
|
||||
|
||||
import fr.utbm.info.vi51.framework.agent.BehaviourOutput;
|
||||
import fr.utbm.info.vi51.framework.environment.DynamicType;
|
||||
import fr.utbm.info.vi51.framework.math.MathUtil;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.motionbehavior.AlignBehaviour;
|
||||
import org.eclipse.xtext.xbase.lib.ObjectExtensions;
|
||||
import org.eclipse.xtext.xbase.lib.Procedures.Procedure1;
|
||||
|
||||
@SuppressWarnings("all")
|
||||
public class KinematicAlignBehaviour implements AlignBehaviour {
|
||||
@Override
|
||||
public BehaviourOutput runAlign(final Vector2f orientation, final float angularSpeed, final float maxAngularSpeed, final Vector2f target) {
|
||||
final float angle = orientation.signedAngle(target);
|
||||
BehaviourOutput _behaviourOutput = new BehaviourOutput(DynamicType.KINEMATIC);
|
||||
final Procedure1<BehaviourOutput> _function = (BehaviourOutput it) -> {
|
||||
float _clamp = MathUtil.clamp(angle, (-maxAngularSpeed), maxAngularSpeed);
|
||||
it.setAngular(_clamp);
|
||||
};
|
||||
return ObjectExtensions.<BehaviourOutput>operator_doubleArrow(_behaviourOutput, _function);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
package fr.utbm.info.vi51.motionbehavior;
|
||||
|
||||
import fr.utbm.info.vi51.framework.agent.BehaviourOutput;
|
||||
import fr.utbm.info.vi51.framework.math.Point2f;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.motionbehavior.EvadeBehaviour;
|
||||
import fr.utbm.info.vi51.motionbehavior.KinematicFleeBehaviour;
|
||||
|
||||
@SuppressWarnings("all")
|
||||
public class KinematicEvadeBehaviour implements EvadeBehaviour {
|
||||
private final KinematicFleeBehaviour flee;
|
||||
|
||||
private final float predictionDuration;
|
||||
|
||||
public KinematicEvadeBehaviour(final KinematicFleeBehaviour flee, final float predictionDuration) {
|
||||
this.flee = flee;
|
||||
this.predictionDuration = predictionDuration;
|
||||
}
|
||||
|
||||
@Override
|
||||
public BehaviourOutput runEvade(final Point2f position, final float linearSpeed, final float maxLinearSpeed, final Point2f targetPosition, final Vector2f targetLinearMotion) {
|
||||
Vector2f _multiply = targetLinearMotion.operator_multiply(this.predictionDuration);
|
||||
Point2f fleeTarget = targetPosition.operator_plus(_multiply);
|
||||
return this.flee.runFlee(position, linearSpeed, maxLinearSpeed, fleeTarget);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,22 @@
|
|||
package fr.utbm.info.vi51.motionbehavior;
|
||||
|
||||
import fr.utbm.info.vi51.framework.agent.BehaviourOutput;
|
||||
import fr.utbm.info.vi51.framework.math.Point2f;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.motionbehavior.FaceBehaviour;
|
||||
import fr.utbm.info.vi51.motionbehavior.KinematicAlignBehaviour;
|
||||
|
||||
@SuppressWarnings("all")
|
||||
public class KinematicFaceBehaviour implements FaceBehaviour {
|
||||
private final KinematicAlignBehaviour align;
|
||||
|
||||
public KinematicFaceBehaviour(final KinematicAlignBehaviour align) {
|
||||
this.align = align;
|
||||
}
|
||||
|
||||
@Override
|
||||
public BehaviourOutput runFace(final Point2f position, final Vector2f orientation, final float angularSpeed, final float maxAngularSpeed, final Point2f target) {
|
||||
Vector2f alignTarget = target.operator_minus(position);
|
||||
return this.align.runAlign(orientation, angularSpeed, maxAngularSpeed, alignTarget);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
package fr.utbm.info.vi51.motionbehavior;
|
||||
|
||||
import fr.utbm.info.vi51.framework.agent.BehaviourOutput;
|
||||
import fr.utbm.info.vi51.framework.environment.DynamicType;
|
||||
import fr.utbm.info.vi51.framework.math.Point2f;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.motionbehavior.FleeBehaviour;
|
||||
import org.eclipse.xtext.xbase.lib.ObjectExtensions;
|
||||
import org.eclipse.xtext.xbase.lib.Procedures.Procedure1;
|
||||
|
||||
@SuppressWarnings("all")
|
||||
public class KinematicFleeBehaviour implements FleeBehaviour {
|
||||
@Override
|
||||
public BehaviourOutput runFlee(final Point2f position, final float linearSpeed, final float maxLinearSpeed, final Point2f target) {
|
||||
final Vector2f direction = position.operator_minus(target);
|
||||
direction.setLength(maxLinearSpeed);
|
||||
BehaviourOutput _behaviourOutput = new BehaviourOutput(DynamicType.KINEMATIC);
|
||||
final Procedure1<BehaviourOutput> _function = (BehaviourOutput it) -> {
|
||||
it.setLinear(direction);
|
||||
};
|
||||
return ObjectExtensions.<BehaviourOutput>operator_doubleArrow(_behaviourOutput, _function);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
package fr.utbm.info.vi51.motionbehavior;
|
||||
|
||||
import fr.utbm.info.vi51.framework.agent.BehaviourOutput;
|
||||
import fr.utbm.info.vi51.framework.math.Point2f;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.motionbehavior.KinematicSeekBehaviour;
|
||||
import fr.utbm.info.vi51.motionbehavior.PursueBehaviour;
|
||||
|
||||
@SuppressWarnings("all")
|
||||
public class KinematicPursueBehaviour implements PursueBehaviour {
|
||||
private final KinematicSeekBehaviour seek;
|
||||
|
||||
private final float predictionDuration;
|
||||
|
||||
public KinematicPursueBehaviour(final KinematicSeekBehaviour seek, final float predictionDuration) {
|
||||
this.seek = seek;
|
||||
this.predictionDuration = predictionDuration;
|
||||
}
|
||||
|
||||
@Override
|
||||
public BehaviourOutput runPursue(final Point2f position, final float linearSpeed, final float maxLinearSpeed, final Point2f targetPosition, final Vector2f targetLinearMotion) {
|
||||
Vector2f _multiply = targetLinearMotion.operator_multiply(this.predictionDuration);
|
||||
Point2f seekTarget = targetPosition.operator_plus(_multiply);
|
||||
return this.seek.runSeek(position, linearSpeed, maxLinearSpeed, seekTarget);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
package fr.utbm.info.vi51.motionbehavior;
|
||||
|
||||
import fr.utbm.info.vi51.framework.agent.BehaviourOutput;
|
||||
import fr.utbm.info.vi51.framework.environment.DynamicType;
|
||||
import fr.utbm.info.vi51.framework.math.Point2f;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.motionbehavior.SeekBehaviour;
|
||||
import org.eclipse.xtext.xbase.lib.ObjectExtensions;
|
||||
import org.eclipse.xtext.xbase.lib.Procedures.Procedure1;
|
||||
|
||||
@SuppressWarnings("all")
|
||||
public class KinematicSeekBehaviour implements SeekBehaviour {
|
||||
@Override
|
||||
public BehaviourOutput runSeek(final Point2f position, final float linearSpeed, final float maxLinearSpeed, final Point2f target) {
|
||||
final Vector2f direction = target.operator_minus(position);
|
||||
direction.setLength(maxLinearSpeed);
|
||||
BehaviourOutput _behaviourOutput = new BehaviourOutput(DynamicType.KINEMATIC);
|
||||
final Procedure1<BehaviourOutput> _function = (BehaviourOutput it) -> {
|
||||
it.setLinear(direction);
|
||||
};
|
||||
return ObjectExtensions.<BehaviourOutput>operator_doubleArrow(_behaviourOutput, _function);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,28 @@
|
|||
package fr.utbm.info.vi51.motionbehavior;
|
||||
|
||||
import fr.utbm.info.vi51.framework.agent.BehaviourOutput;
|
||||
import fr.utbm.info.vi51.framework.environment.DynamicType;
|
||||
import fr.utbm.info.vi51.framework.math.Point2f;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.motionbehavior.WanderBehaviour;
|
||||
import java.util.Random;
|
||||
import org.eclipse.xtext.xbase.lib.ObjectExtensions;
|
||||
import org.eclipse.xtext.xbase.lib.Procedures.Procedure1;
|
||||
|
||||
@SuppressWarnings("all")
|
||||
public class KinematicWanderBehaviour implements WanderBehaviour {
|
||||
private final Random random = new Random();
|
||||
|
||||
@Override
|
||||
public BehaviourOutput runWander(final Point2f position, final Vector2f orientation, final float linearSpeed, final float maxLinearSpeed, final float angularSpeed, final float maxAngularSpeed) {
|
||||
final Vector2f v = orientation.toColinearVector(maxLinearSpeed);
|
||||
double _nextGaussian = this.random.nextGaussian();
|
||||
final double rotation = (_nextGaussian * maxAngularSpeed);
|
||||
BehaviourOutput _behaviourOutput = new BehaviourOutput(DynamicType.KINEMATIC);
|
||||
final Procedure1<BehaviourOutput> _function = (BehaviourOutput it) -> {
|
||||
it.setLinear(v);
|
||||
it.setAngular(((float) rotation));
|
||||
};
|
||||
return ObjectExtensions.<BehaviourOutput>operator_doubleArrow(_behaviourOutput, _function);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,52 @@
|
|||
package fr.utbm.info.vi51.motionbehavior;
|
||||
|
||||
import fr.utbm.info.vi51.framework.agent.BehaviourOutput;
|
||||
import fr.utbm.info.vi51.framework.environment.DynamicType;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.motionbehavior.AlignBehaviour;
|
||||
import org.eclipse.xtext.xbase.lib.ObjectExtensions;
|
||||
import org.eclipse.xtext.xbase.lib.Procedures.Procedure1;
|
||||
|
||||
@SuppressWarnings("all")
|
||||
public class SteeringAlignBehaviour implements AlignBehaviour {
|
||||
private final float stopAngle;
|
||||
|
||||
private final float decelerateAngle;
|
||||
|
||||
private final float timeToReachTarget;
|
||||
|
||||
public SteeringAlignBehaviour(final float stopAngle, final float decelerateAngle, final float timeToReachTarget) {
|
||||
this.stopAngle = stopAngle;
|
||||
this.decelerateAngle = decelerateAngle;
|
||||
this.timeToReachTarget = timeToReachTarget;
|
||||
}
|
||||
|
||||
@Override
|
||||
public BehaviourOutput runAlign(final Vector2f orientation, final float angularSpeed, final float maxAngularAcceleration, final Vector2f target) {
|
||||
final float sAngle = orientation.signedAngle(target);
|
||||
final float angle = Math.abs(sAngle);
|
||||
if ((angle <= this.stopAngle)) {
|
||||
BehaviourOutput _behaviourOutput = new BehaviourOutput(DynamicType.STEERING);
|
||||
final Procedure1<BehaviourOutput> _function = (BehaviourOutput it) -> {
|
||||
it.setAngular(((-angularSpeed) / 1));
|
||||
};
|
||||
return ObjectExtensions.<BehaviourOutput>operator_doubleArrow(_behaviourOutput, _function);
|
||||
}
|
||||
if ((angle > this.decelerateAngle)) {
|
||||
BehaviourOutput _behaviourOutput_1 = new BehaviourOutput(DynamicType.STEERING);
|
||||
final Procedure1<BehaviourOutput> _function_1 = (BehaviourOutput it) -> {
|
||||
float _signum = Math.signum(sAngle);
|
||||
float _multiply = (_signum * maxAngularAcceleration);
|
||||
it.setAngular(_multiply);
|
||||
};
|
||||
return ObjectExtensions.<BehaviourOutput>operator_doubleArrow(_behaviourOutput_1, _function_1);
|
||||
}
|
||||
BehaviourOutput _behaviourOutput_2 = new BehaviourOutput(DynamicType.STEERING);
|
||||
final Procedure1<BehaviourOutput> _function_2 = (BehaviourOutput it) -> {
|
||||
double _power = Math.pow(this.timeToReachTarget, 2);
|
||||
double _divide = (sAngle / _power);
|
||||
it.setAngular(((float) _divide));
|
||||
};
|
||||
return ObjectExtensions.<BehaviourOutput>operator_doubleArrow(_behaviourOutput_2, _function_2);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
package fr.utbm.info.vi51.motionbehavior;
|
||||
|
||||
import fr.utbm.info.vi51.framework.agent.BehaviourOutput;
|
||||
import fr.utbm.info.vi51.framework.math.Point2f;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.motionbehavior.EvadeBehaviour;
|
||||
import fr.utbm.info.vi51.motionbehavior.SteeringFleeBehaviour;
|
||||
|
||||
@SuppressWarnings("all")
|
||||
public class SteeringEvadeBehaviour implements EvadeBehaviour {
|
||||
private final SteeringFleeBehaviour flee;
|
||||
|
||||
private final float predictionDuration;
|
||||
|
||||
public SteeringEvadeBehaviour(final SteeringFleeBehaviour flee, final float predictionDuration) {
|
||||
this.flee = flee;
|
||||
this.predictionDuration = predictionDuration;
|
||||
}
|
||||
|
||||
@Override
|
||||
public BehaviourOutput runEvade(final Point2f position, final float linearSpeed, final float maxLinearAcceleration, final Point2f targetPosition, final Vector2f targetLinearMotion) {
|
||||
Vector2f _multiply = targetLinearMotion.operator_multiply(this.predictionDuration);
|
||||
Point2f fleeTarget = targetPosition.operator_plus(_multiply);
|
||||
return this.flee.runFlee(position, linearSpeed, maxLinearAcceleration, fleeTarget);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,22 @@
|
|||
package fr.utbm.info.vi51.motionbehavior;
|
||||
|
||||
import fr.utbm.info.vi51.framework.agent.BehaviourOutput;
|
||||
import fr.utbm.info.vi51.framework.math.Point2f;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.motionbehavior.FaceBehaviour;
|
||||
import fr.utbm.info.vi51.motionbehavior.SteeringAlignBehaviour;
|
||||
|
||||
@SuppressWarnings("all")
|
||||
public class SteeringFaceBehaviour implements FaceBehaviour {
|
||||
private final SteeringAlignBehaviour align;
|
||||
|
||||
public SteeringFaceBehaviour(final SteeringAlignBehaviour align) {
|
||||
this.align = align;
|
||||
}
|
||||
|
||||
@Override
|
||||
public BehaviourOutput runFace(final Point2f position, final Vector2f orientation, final float angularSpeed, final float maxAngularAcceleration, final Point2f target) {
|
||||
Vector2f alignTarget = target.operator_minus(position);
|
||||
return this.align.runAlign(orientation, angularSpeed, maxAngularAcceleration, alignTarget);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
package fr.utbm.info.vi51.motionbehavior;
|
||||
|
||||
import fr.utbm.info.vi51.framework.agent.BehaviourOutput;
|
||||
import fr.utbm.info.vi51.framework.environment.DynamicType;
|
||||
import fr.utbm.info.vi51.framework.math.Point2f;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.motionbehavior.FleeBehaviour;
|
||||
import org.eclipse.xtext.xbase.lib.ObjectExtensions;
|
||||
import org.eclipse.xtext.xbase.lib.Procedures.Procedure1;
|
||||
|
||||
@SuppressWarnings("all")
|
||||
public class SteeringFleeBehaviour implements FleeBehaviour {
|
||||
@Override
|
||||
public BehaviourOutput runFlee(final Point2f position, final float linearSpeed, final float maxLinearAcceleration, final Point2f target) {
|
||||
final Vector2f direction = position.operator_minus(target);
|
||||
direction.setLength(maxLinearAcceleration);
|
||||
BehaviourOutput _behaviourOutput = new BehaviourOutput(DynamicType.KINEMATIC);
|
||||
final Procedure1<BehaviourOutput> _function = (BehaviourOutput it) -> {
|
||||
it.setLinear(direction);
|
||||
};
|
||||
return ObjectExtensions.<BehaviourOutput>operator_doubleArrow(_behaviourOutput, _function);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
package fr.utbm.info.vi51.motionbehavior;
|
||||
|
||||
import fr.utbm.info.vi51.framework.agent.BehaviourOutput;
|
||||
import fr.utbm.info.vi51.framework.math.Point2f;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.motionbehavior.PursueBehaviour;
|
||||
import fr.utbm.info.vi51.motionbehavior.SteeringSeekBehaviour;
|
||||
|
||||
@SuppressWarnings("all")
|
||||
public class SteeringPursueBehaviour implements PursueBehaviour {
|
||||
private final SteeringSeekBehaviour seek;
|
||||
|
||||
private final float predictionDuration;
|
||||
|
||||
public SteeringPursueBehaviour(final SteeringSeekBehaviour seek, final float predictionDuration) {
|
||||
this.seek = seek;
|
||||
this.predictionDuration = predictionDuration;
|
||||
}
|
||||
|
||||
@Override
|
||||
public BehaviourOutput runPursue(final Point2f position, final float linearSpeed, final float maxLinearAcceleration, final Point2f targetPosition, final Vector2f targetLinearMotion) {
|
||||
Vector2f _multiply = targetLinearMotion.operator_multiply(this.predictionDuration);
|
||||
Point2f seekTarget = targetPosition.operator_plus(_multiply);
|
||||
return this.seek.runSeek(position, linearSpeed, maxLinearAcceleration, seekTarget);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
package fr.utbm.info.vi51.motionbehavior;
|
||||
|
||||
import fr.utbm.info.vi51.framework.agent.BehaviourOutput;
|
||||
import fr.utbm.info.vi51.framework.environment.DynamicType;
|
||||
import fr.utbm.info.vi51.framework.math.Point2f;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.motionbehavior.SeekBehaviour;
|
||||
import org.eclipse.xtext.xbase.lib.ObjectExtensions;
|
||||
import org.eclipse.xtext.xbase.lib.Procedures.Procedure1;
|
||||
|
||||
@SuppressWarnings("all")
|
||||
public class SteeringSeekBehaviour implements SeekBehaviour {
|
||||
@Override
|
||||
public BehaviourOutput runSeek(final Point2f position, final float linearSpeed, final float maxLinearAcceleration, final Point2f target) {
|
||||
final Vector2f direction = target.operator_minus(position);
|
||||
direction.setLength(maxLinearAcceleration);
|
||||
BehaviourOutput _behaviourOutput = new BehaviourOutput(DynamicType.KINEMATIC);
|
||||
final Procedure1<BehaviourOutput> _function = (BehaviourOutput it) -> {
|
||||
it.setLinear(direction);
|
||||
};
|
||||
return ObjectExtensions.<BehaviourOutput>operator_doubleArrow(_behaviourOutput, _function);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,62 @@
|
|||
package fr.utbm.info.vi51.motionbehavior;
|
||||
|
||||
import fr.utbm.info.vi51.framework.agent.BehaviourOutput;
|
||||
import fr.utbm.info.vi51.framework.environment.DynamicType;
|
||||
import fr.utbm.info.vi51.framework.math.Point2f;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.motionbehavior.SteeringFaceBehaviour;
|
||||
import fr.utbm.info.vi51.motionbehavior.SteeringSeekBehaviour;
|
||||
import fr.utbm.info.vi51.motionbehavior.WanderBehaviour;
|
||||
import java.util.Random;
|
||||
import org.eclipse.xtext.xbase.lib.ObjectExtensions;
|
||||
import org.eclipse.xtext.xbase.lib.Procedures.Procedure1;
|
||||
|
||||
@SuppressWarnings("all")
|
||||
public class SteeringWanderBehaviour implements WanderBehaviour {
|
||||
private final float circleDistance;
|
||||
|
||||
private final float circleRadius;
|
||||
|
||||
private final float maxRotation;
|
||||
|
||||
private final SteeringFaceBehaviour faceBehaviour;
|
||||
|
||||
private final SteeringSeekBehaviour seekBehaviour;
|
||||
|
||||
private final Random random = new Random();
|
||||
|
||||
private float rotation = 0f;
|
||||
|
||||
public SteeringWanderBehaviour(final float circleDistance, final float circleRadius, final float maxRotation, final SteeringFaceBehaviour faceBehaviour, final SteeringSeekBehaviour seekBehaviour) {
|
||||
this.circleDistance = circleDistance;
|
||||
this.circleRadius = circleRadius;
|
||||
this.maxRotation = maxRotation;
|
||||
this.faceBehaviour = faceBehaviour;
|
||||
this.seekBehaviour = seekBehaviour;
|
||||
}
|
||||
|
||||
@Override
|
||||
public BehaviourOutput runWander(final Point2f position, final Vector2f orientation, final float linearSpeed, final float maxLinearAcceleration, final float angularSpeed, final float maxAngularAcceleration) {
|
||||
Vector2f circleCenter = orientation.toColinearVector(this.circleDistance);
|
||||
Vector2f displacement = circleCenter.toColinearVector(this.circleRadius);
|
||||
displacement.turn(this.rotation);
|
||||
float _rotation = this.rotation;
|
||||
float _nextFloat = this.random.nextFloat();
|
||||
float _multiply = (_nextFloat * 2f);
|
||||
float _minus = (_multiply - 1f);
|
||||
float _multiply_1 = (_minus * this.maxRotation);
|
||||
this.rotation = (_rotation + _multiply_1);
|
||||
Point2f circleCenterPosition = position.operator_plus(circleCenter);
|
||||
Point2f faceTarget = circleCenterPosition.operator_plus(displacement);
|
||||
final BehaviourOutput faceOutput = this.faceBehaviour.runFace(position, orientation, angularSpeed, maxAngularAcceleration, faceTarget);
|
||||
final BehaviourOutput seekOutput = this.seekBehaviour.runSeek(position, linearSpeed, maxLinearAcceleration, circleCenterPosition);
|
||||
BehaviourOutput _behaviourOutput = new BehaviourOutput(DynamicType.KINEMATIC);
|
||||
final Procedure1<BehaviourOutput> _function = (BehaviourOutput it) -> {
|
||||
Vector2f _linear = seekOutput.getLinear();
|
||||
it.setLinear(_linear);
|
||||
float _angular = faceOutput.getAngular();
|
||||
it.setAngular(_angular);
|
||||
};
|
||||
return ObjectExtensions.<BehaviourOutput>operator_doubleArrow(_behaviourOutput, _function);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,4 @@
|
|||
PROGRAM_NAME = VI51 LW5
|
||||
INTRO_MESSAGE = VI51 Lab work #5\nCopyright (c) 2007-2016 Stéphane GALLAND\nThanks to Julia Nikolaeva aka. Flameia for the icons <flameia@zerobias.com>
|
||||
USE_STEERING_MESSAGE = Do you want to run the steering behaviours in place of the kinematic behaviours?
|
||||
USE_STEERING_TITLE = Steering or Kinematic Behaviours
|
||||
|
|
@ -0,0 +1,4 @@
|
|||
PROGRAM_NAME = TP5 VI51
|
||||
INTRO_MESSAGE = Travaux Pratiques #5\nCopyright (c) 2007-2016 Stéphane GALLAND\nMerci à Julia Nikolaeva aka. Flameia pour ses icônes <flameia@zerobias.com>
|
||||
USE_STEERING_MESSAGE = Voulez-vous exécuter les comportements steerings à la place des comportements cinématiques ?
|
||||
USE_STEERING_TITLE = Comportements Steerings ou Cinématiques
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
SHOW_ICONS = Draw the icons of the rabbits.
|
||||
SHOW_POSITIONS = Draw the positions.
|
||||
SHOW_FORMATIONS = Draw the formation.
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
SHOW_ICONS = Dessine les icônes des lapins.
|
||||
SHOW_POSITIONS = Dessine les positions.
|
||||
SHOW_FORMATIONS = Dessine la formation.
|
||||
BIN
src/main/resources/fr/utbm/info/vi51/eurock/gui/carrot.png
Normal file
BIN
src/main/resources/fr/utbm/info/vi51/eurock/gui/carrot.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 1.5 KiB |
BIN
src/main/resources/fr/utbm/info/vi51/eurock/gui/follower.png
Normal file
BIN
src/main/resources/fr/utbm/info/vi51/eurock/gui/follower.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 4.4 KiB |
BIN
src/main/resources/fr/utbm/info/vi51/eurock/gui/icon.png
Normal file
BIN
src/main/resources/fr/utbm/info/vi51/eurock/gui/icon.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 2.4 KiB |
BIN
src/main/resources/fr/utbm/info/vi51/eurock/gui/leader.png
Normal file
BIN
src/main/resources/fr/utbm/info/vi51/eurock/gui/leader.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 5.2 KiB |
|
|
@ -0,0 +1,2 @@
|
|||
INVALID_ROTATION = **** INVALID ROTATION (NaN); object with name ''{0}''.
|
||||
INVALID_DURATION = **** INVALID DURATION (NaN); object with name ''{0}''.
|
||||
|
|
@ -0,0 +1,2 @@
|
|||
INVALID_ROTATION = **** ROTATION INVALIDE (NaN); objet avec le nom ''{0}''.
|
||||
INVALID_DURATION = **** DUREE INVALIDE (NaN); objet avec le nom ''{0}''.
|
||||
|
|
@ -0,0 +1 @@
|
|||
INVALID_POSITION = **** INVALID POSITION (NaN); object with name '{0}'.
|
||||
|
|
@ -0,0 +1 @@
|
|||
INVALID_POSITION = **** POSITION INVALIDE (NaN); objet avec le nom '{0}'.
|
||||
|
|
@ -0,0 +1 @@
|
|||
BODY_OF = Body of {0}
|
||||
|
|
@ -0,0 +1 @@
|
|||
BODY_OF = Corps de {0}
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 2.4 KiB |
|
|
@ -0,0 +1,3 @@
|
|||
QUIT = Quit
|
||||
TARGET_POSITION = Target: ({0,number,#.#}; {1,number,#.#})
|
||||
SLIDER_LABEL = Change the simulation speed
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
QUIT = Quitter
|
||||
TARGET_POSITION = Objectif : ({0,number,#.#}; {1,number,#.#})
|
||||
SLIDER_LABEL = Modification de la vitesse de simulation
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
KINEMATIC_BUTTON = Kinematic Behavior (speed)
|
||||
STEERING_BUTTON = Steering Behavior (acceleration)
|
||||
TITLE = Behavior Type Selection
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
KINEMATIC_BUTTON = Comportement Cinematique (vitesse)
|
||||
STEERING_BUTTON = Comportement directeur (acceleration)
|
||||
TITLE = Sélection du type des comportement
|
||||
BIN
src/main/resources/fr/utbm/info/vi51/framework/gui/kinematic.png
Normal file
BIN
src/main/resources/fr/utbm/info/vi51/framework/gui/kinematic.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 25 KiB |
BIN
src/main/resources/fr/utbm/info/vi51/framework/gui/steering.png
Normal file
BIN
src/main/resources/fr/utbm/info/vi51/framework/gui/steering.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 26 KiB |
85
src/main/sarl/fr/utbm/info/vi51/eurock/MainProgram.java
Normal file
85
src/main/sarl/fr/utbm/info/vi51/eurock/MainProgram.java
Normal file
|
|
@ -0,0 +1,85 @@
|
|||
/*
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2011-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.eurock;
|
||||
|
||||
import fr.utbm.info.vi51.eurock.agent.Guy;
|
||||
import fr.utbm.info.vi51.eurock.environment.WorldModel;
|
||||
import fr.utbm.info.vi51.eurock.gui.GUI;
|
||||
import fr.utbm.info.vi51.framework.FrameworkLauncher;
|
||||
import fr.utbm.info.vi51.framework.environment.AgentBody;
|
||||
import fr.utbm.info.vi51.framework.environment.DynamicType;
|
||||
import fr.utbm.info.vi51.framework.gui.FrameworkGUI;
|
||||
import fr.utbm.info.vi51.framework.util.LocalizedString;
|
||||
import fr.utbm.info.vi51.framework.util.SpawnMapping;
|
||||
import io.sarl.lang.core.Agent;
|
||||
|
||||
/**
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
* @version $Name$ $Revision$ $Date$
|
||||
*/
|
||||
public class MainProgram {
|
||||
|
||||
private static float WORLD_SIZE_X = 500;
|
||||
private static float WORLD_SIZE_Y = 500;
|
||||
private static int AGENT_COUNT = 300;
|
||||
|
||||
/** Main program.
|
||||
*
|
||||
* @param argv are the command line arguments.
|
||||
* @throws Exception
|
||||
*/
|
||||
public static void main(String[] argv) throws Exception {
|
||||
|
||||
System.out.println(LocalizedString.getString(MainProgram.class, "INTRO_MESSAGE")); //$NON-NLS-1$
|
||||
|
||||
WorldModel environment = new WorldModel(WORLD_SIZE_X, WORLD_SIZE_Y);
|
||||
|
||||
for (int i = 0; i < AGENT_COUNT; ++i) {
|
||||
environment.createFish();
|
||||
}
|
||||
|
||||
FrameworkGUI gui = new GUI(WORLD_SIZE_X, WORLD_SIZE_Y, environment.getTimeManager());
|
||||
|
||||
FrameworkLauncher.launchSimulation(
|
||||
environment,
|
||||
new ApplicationMapping(),
|
||||
DynamicType.STEERING,
|
||||
gui);
|
||||
}
|
||||
|
||||
/**
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
* @version $Name$ $Revision$ $Date$
|
||||
*/
|
||||
private static class ApplicationMapping extends SpawnMapping {
|
||||
|
||||
@Override
|
||||
public Class<? extends Agent> getAgentTypeForBody(AgentBody body) {
|
||||
Object type = body.getType();
|
||||
if ("FISH".equals(type)) {
|
||||
return Guy.class;
|
||||
}
|
||||
throw new IllegalArgumentException();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
86
src/main/sarl/fr/utbm/info/vi51/eurock/agent/guy.sarl
Normal file
86
src/main/sarl/fr/utbm/info/vi51/eurock/agent/guy.sarl
Normal file
|
|
@ -0,0 +1,86 @@
|
|||
/*
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2014-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.eurock.^agent
|
||||
|
||||
import fr.utbm.info.vi51.framework.^agent.AbstractAnimat
|
||||
import fr.utbm.info.vi51.framework.^agent.PhysicEnvironment
|
||||
import fr.utbm.info.vi51.framework.environment.PerceptionEvent
|
||||
import fr.utbm.info.vi51.framework.environment.SimulationAgentReady
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f
|
||||
import fr.utbm.info.vi51.motionbehavior.AlignBehaviour
|
||||
import fr.utbm.info.vi51.motionbehavior.KinematicAlignBehaviour
|
||||
import fr.utbm.info.vi51.motionbehavior.KinematicSeekBehaviour
|
||||
import fr.utbm.info.vi51.motionbehavior.KinematicWanderBehaviour
|
||||
import fr.utbm.info.vi51.motionbehavior.SeekBehaviour
|
||||
import fr.utbm.info.vi51.motionbehavior.WanderBehaviour
|
||||
import io.sarl.core.DefaultContextInteractions
|
||||
import io.sarl.core.Initialize
|
||||
import io.sarl.core.Lifecycle
|
||||
import io.sarl.core.Logging
|
||||
import java.util.Random
|
||||
|
||||
agent Guy extends AbstractAnimat {
|
||||
|
||||
uses PhysicEnvironment, Lifecycle, DefaultContextInteractions, Logging
|
||||
|
||||
|
||||
var seekBehaviour : SeekBehaviour
|
||||
var wanderBehaviour : WanderBehaviour
|
||||
var alignBehaviour : AlignBehaviour
|
||||
|
||||
on Initialize {
|
||||
super._handle_Initialize_0(occurrence)
|
||||
emit(new SimulationAgentReady)
|
||||
|
||||
this.seekBehaviour = new KinematicSeekBehaviour
|
||||
this.alignBehaviour = new KinematicAlignBehaviour
|
||||
this.wanderBehaviour = new KinematicWanderBehaviour
|
||||
}
|
||||
|
||||
on PerceptionEvent {
|
||||
var body = occurrence.body
|
||||
var direction = new Vector2f
|
||||
var random = new Random
|
||||
var barycenter = new Vector2f
|
||||
var f = new Vector2f
|
||||
|
||||
if (occurrence.perceptions.size > 0) {
|
||||
for ( o : occurrence.perceptions ) {
|
||||
if (o.type == "FISH") {
|
||||
barycenter += o.position - body.position
|
||||
direction += o.direction;
|
||||
f += (body.position - o.position) * 4 / ((body.position - o.position).length ** 1 + 1) as float
|
||||
} else if(o.type == "TARGET") {
|
||||
barycenter += (o.position - body.position) * 5
|
||||
direction += (o.position - body.position)
|
||||
f += (body.position - o.position).toUnitVector() / ((body.position - o.position).length ** 8 + 1) as float
|
||||
}
|
||||
}
|
||||
barycenter *= (1.0 / occurrence.perceptions.size) as float
|
||||
direction += barycenter
|
||||
influenceKinematic(barycenter+f, body.direction.signedAngle(direction))
|
||||
} else {
|
||||
var linear = new Vector2f(random.nextInt() as float, random.nextInt() as float)
|
||||
var angular = random.nextGaussian() as float
|
||||
influenceKinematic(linear, angular)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,28 @@
|
|||
package fr.utbm.info.vi51.eurock.environment;
|
||||
|
||||
import java.util.UUID;
|
||||
|
||||
import fr.utbm.info.vi51.framework.environment.AbstractFrustum;
|
||||
import fr.utbm.info.vi51.framework.math.Circle2f;
|
||||
import fr.utbm.info.vi51.framework.math.Point2f;
|
||||
import fr.utbm.info.vi51.framework.math.Shape2f;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
|
||||
public class CircleFrustrum extends AbstractFrustum {
|
||||
|
||||
private float distance;
|
||||
|
||||
public CircleFrustrum(UUID owner, float distance) {
|
||||
super(owner);
|
||||
this.distance = distance;
|
||||
}
|
||||
|
||||
@Override
|
||||
public Shape2f<?> toShape(Point2f position, Vector2f orientation) {
|
||||
return new Circle2f(position, distance);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,59 @@
|
|||
/*
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2011-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.eurock.environment;
|
||||
|
||||
import java.util.UUID;
|
||||
|
||||
import fr.utbm.info.vi51.framework.environment.AbstractSituatedObject;
|
||||
import fr.utbm.info.vi51.framework.math.Circle2f;
|
||||
|
||||
/**
|
||||
* Situated object representing the mouse position.
|
||||
*
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
* @version $Name$ $Revision$ $Date$
|
||||
*/
|
||||
public final class MouseTarget extends AbstractSituatedObject {
|
||||
|
||||
private static final long serialVersionUID = 3960871126454165695L;
|
||||
|
||||
/**
|
||||
* @param x
|
||||
* @param y
|
||||
*/
|
||||
public MouseTarget(float x, float y) {
|
||||
super(UUID.randomUUID(), new Circle2f(0, 0, 5f), x, y);
|
||||
setType("TARGET");
|
||||
}
|
||||
|
||||
/** Set the position of the mouse target.
|
||||
*
|
||||
* @param x
|
||||
* @param y
|
||||
*/
|
||||
public void setMousePosition(float x, float y) {
|
||||
// *** CAUTION ***
|
||||
// Changing directly the position of the target without going through the influence
|
||||
// solver may cause collision between the target and the agents.
|
||||
setPosition(x, y);
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,49 @@
|
|||
/*
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2011-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.eurock.environment;
|
||||
|
||||
import java.util.UUID;
|
||||
|
||||
import fr.utbm.info.vi51.framework.environment.AbstractSituatedObject;
|
||||
import fr.utbm.info.vi51.framework.math.Rectangle2f;
|
||||
|
||||
/**
|
||||
* Situated object representing the mouse position.
|
||||
*
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
* @version $Name$ $Revision$ $Date$
|
||||
*/
|
||||
public final class WallObject extends AbstractSituatedObject {
|
||||
|
||||
private static final long serialVersionUID = 3960871126454165695L;
|
||||
|
||||
/**
|
||||
* @param x
|
||||
* @param y
|
||||
* @param width
|
||||
* @param height
|
||||
*/
|
||||
public WallObject(float x, float y, float width, float height) {
|
||||
super(UUID.randomUUID(), new Rectangle2f(0 - width / 2, 0 - height / 2, width, height), x + width / 2, y + height / 2);
|
||||
setType("WALL");
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,285 @@
|
|||
/*
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2011-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.eurock.environment;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.Collection;
|
||||
import java.util.Collections;
|
||||
import java.util.List;
|
||||
import java.util.UUID;
|
||||
|
||||
import fr.utbm.info.vi51.framework.environment.AbstractEnvironment;
|
||||
import fr.utbm.info.vi51.framework.environment.AgentBody;
|
||||
import fr.utbm.info.vi51.framework.environment.DynamicType;
|
||||
import fr.utbm.info.vi51.framework.environment.Frustum;
|
||||
import fr.utbm.info.vi51.framework.environment.Influence;
|
||||
import fr.utbm.info.vi51.framework.environment.MotionInfluence;
|
||||
import fr.utbm.info.vi51.framework.environment.Percept;
|
||||
import fr.utbm.info.vi51.framework.environment.SituatedObject;
|
||||
import fr.utbm.info.vi51.framework.gui.WorldModelStateProvider;
|
||||
import fr.utbm.info.vi51.framework.math.Circle2f;
|
||||
import fr.utbm.info.vi51.framework.math.MathUtil;
|
||||
import fr.utbm.info.vi51.framework.math.Point2f;
|
||||
import fr.utbm.info.vi51.framework.math.Shape2f;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.framework.time.StepTimeManager;
|
||||
import fr.utbm.info.vi51.framework.time.TimeManager;
|
||||
import fr.utbm.info.vi51.framework.util.CollectionUtil;
|
||||
import fr.utbm.info.vi51.framework.util.LocalizedString;
|
||||
|
||||
/**
|
||||
* Model of the world.
|
||||
*
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
* @version $Name$ $Revision$ $Date$
|
||||
*/
|
||||
public class WorldModel extends AbstractEnvironment implements WorldModelStateProvider {
|
||||
|
||||
private final static float FISH_SIZE = 2f;
|
||||
private final static float RADIUS = 60f;
|
||||
|
||||
private MouseTarget mouseTarget = null;
|
||||
|
||||
private final WallObject northWall;
|
||||
private final WallObject eastWall;
|
||||
private final WallObject westWall;
|
||||
private final WallObject southWall;
|
||||
|
||||
/**
|
||||
* @param width is the width of the world.
|
||||
* @param height is the height of the world.
|
||||
*/
|
||||
public WorldModel(float width, float height) {
|
||||
super(width, height, new StepTimeManager(500));
|
||||
this.northWall = new WallObject(0, -1, width, 1);
|
||||
this.southWall = new WallObject(0, height, width, 1);
|
||||
this.westWall = new WallObject(-1, 0, height, 1);
|
||||
this.eastWall = new WallObject(0, width, height, 1);
|
||||
}
|
||||
|
||||
/** {@inheritDoc}
|
||||
*/
|
||||
public void setMouseTarget(Point2f target) {
|
||||
if (target==null) this.mouseTarget = null;
|
||||
else this.mouseTarget = new MouseTarget(target.getX(), target.getY());
|
||||
}
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
@Override
|
||||
protected List<Percept> computePerceptionsFor(AgentBody agent) {
|
||||
List<Percept> allPercepts = new ArrayList<Percept>();
|
||||
if (agent!=null) {
|
||||
Frustum frustum = agent.getFrustum();
|
||||
Shape2f<?> frustumShape = frustum.toShape(agent.getPosition(), agent.getDirection());
|
||||
|
||||
// add mouse target in perceptions
|
||||
MouseTarget p = this.mouseTarget;
|
||||
if (p!=null && frustumShape.intersects(new Circle2f(p.getPosition(), 1))) {
|
||||
allPercepts.add(new Percept(p));
|
||||
}
|
||||
|
||||
// Add other agents
|
||||
for(AgentBody b1 : getAgentBodies()) {
|
||||
if (b1!=agent && frustumShape.intersects(b1.getShape())) {
|
||||
allPercepts.add(new Percept(b1));
|
||||
}
|
||||
}
|
||||
|
||||
// Add walls.
|
||||
if (frustumShape.intersects(this.northWall.getShape())) {
|
||||
allPercepts.add(new Percept(this.northWall));
|
||||
}
|
||||
if (frustumShape.intersects(this.southWall.getShape())) {
|
||||
allPercepts.add(new Percept(this.southWall));
|
||||
}
|
||||
if (frustumShape.intersects(this.eastWall.getShape())) {
|
||||
allPercepts.add(new Percept(this.eastWall));
|
||||
}
|
||||
if (frustumShape.intersects(this.westWall.getShape())) {
|
||||
allPercepts.add(new Percept(this.westWall));
|
||||
}
|
||||
}
|
||||
|
||||
return allPercepts;
|
||||
}
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
@Override
|
||||
protected void applyInfluences(Collection<MotionInfluence> motionInfluences,
|
||||
Collection<Influence> otherInfluences, TimeManager timeManager) {
|
||||
List<MotionInfluence> influenceList = new ArrayList<MotionInfluence>(motionInfluences);
|
||||
List<AnimatAction> actions = new ArrayList<AnimatAction>(influenceList.size());
|
||||
|
||||
// Compute actions
|
||||
for(int index1=0; index1<influenceList.size(); index1++) {
|
||||
MotionInfluence inf1 = influenceList.get(index1);
|
||||
AgentBody body1 = getAgentBodyFor(inf1.getEmitter());
|
||||
if (body1!=null) {
|
||||
Vector2f move;
|
||||
float rotation;
|
||||
if (inf1.getType()==DynamicType.STEERING) {
|
||||
move = computeSteeringTranslation(body1, inf1.getLinearInfluence(), timeManager);
|
||||
rotation = computeSteeringRotation(body1, inf1.getAngularInfluence(), timeManager);
|
||||
}
|
||||
else {
|
||||
move = computeKinematicTranslation(body1, inf1.getLinearInfluence(), timeManager);
|
||||
rotation = computeKinematicRotation(body1, inf1.getAngularInfluence(), timeManager);
|
||||
}
|
||||
|
||||
Shape2f<?> body1Bounds = body1.getShape();
|
||||
|
||||
// Trivial collision detection
|
||||
for(int index2=index1+1; index2<influenceList.size(); index2++) {
|
||||
MotionInfluence inf2 = influenceList.get(index2);
|
||||
AgentBody body2 = getAgentBodyFor(inf2.getEmitter());
|
||||
if (body2!=null) {
|
||||
Shape2f<?> body2Bounds = body2.getShape();
|
||||
if (body1Bounds.intersects(body2Bounds)) {
|
||||
move.set(0,0);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
actions.add(new AnimatAction(body1, move, rotation));
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// Apply the actions
|
||||
for(AnimatAction action : actions) {
|
||||
AgentBody body = action.getObjectToMove();
|
||||
if (body!=null) {
|
||||
move(
|
||||
body,
|
||||
action.getTranslation(),
|
||||
action.getRotation());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public Iterable<? extends SituatedObject> getAllObjects() {
|
||||
if (this.mouseTarget != null) {
|
||||
return CollectionUtil.newIterable(getAgentBodies(), this.mouseTarget);
|
||||
}
|
||||
return getAgentBodies();
|
||||
}
|
||||
|
||||
@Override
|
||||
protected List<Influence> computeEndogenousBehaviorInfluences() {
|
||||
return Collections.emptyList();
|
||||
}
|
||||
|
||||
private void createBody(String type) {
|
||||
UUID id = UUID.randomUUID();
|
||||
AgentBody body = new AgentBody(
|
||||
id,
|
||||
new Circle2f(0f, 0f, FISH_SIZE), // body
|
||||
5f, // max linear speed m/s
|
||||
.5f, // max linear acceleration (m/s)/s
|
||||
MathUtil.PI/4f, // max angular speed r/s
|
||||
MathUtil.PI/10f, // max angular acceleration (r/s)/s
|
||||
new CircleFrustrum(id, RADIUS));
|
||||
body.setName(LocalizedString.getString(WorldModel.class, type, getAgentBodyNumber() + 1));
|
||||
body.setType(type);
|
||||
addAgentBody(
|
||||
body,
|
||||
randomPosition(),
|
||||
(float) Math.random() * MathUtil.TWO_PI);
|
||||
}
|
||||
|
||||
/** Create the body of a fish.
|
||||
*/
|
||||
public void createFish() {
|
||||
createBody("FISH");
|
||||
}
|
||||
|
||||
protected Point2f randomPosition() {
|
||||
float x = (float) Math.random() * getWidth() - FISH_SIZE;
|
||||
float y = (float) Math.random() * getHeight() - FISH_SIZE;
|
||||
return new Point2f(x, y);
|
||||
}
|
||||
|
||||
@Override
|
||||
protected void onAgentBodyCreated(AgentBody body) {
|
||||
//
|
||||
}
|
||||
|
||||
@Override
|
||||
protected void onAgentBodyDestroyed(AgentBody body) {
|
||||
//
|
||||
}
|
||||
|
||||
/**
|
||||
* Real action to apply in the world.
|
||||
*
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
* @version $Name$ $Revision$ $Date$
|
||||
*/
|
||||
private static class AnimatAction {
|
||||
|
||||
private final AgentBody body;
|
||||
private final Vector2f move;
|
||||
private final float rotation;
|
||||
|
||||
/**
|
||||
* @param object is the animat body.
|
||||
* @param move is the translation.
|
||||
* @param rotation is the rotation.
|
||||
*/
|
||||
public AnimatAction(AgentBody object, Vector2f move, float rotation) {
|
||||
this.body = object;
|
||||
this.move = move;
|
||||
this.rotation = rotation;
|
||||
}
|
||||
|
||||
/** Replies the moved object.
|
||||
*
|
||||
* @return the moved object.
|
||||
*/
|
||||
public AgentBody getObjectToMove() {
|
||||
return this.body;
|
||||
}
|
||||
|
||||
/** Replies the translation.
|
||||
*
|
||||
* @return the translation.
|
||||
*/
|
||||
public Vector2f getTranslation() {
|
||||
return this.move;
|
||||
}
|
||||
|
||||
/** Replies the rotation.
|
||||
*
|
||||
* @return the rotation.
|
||||
*/
|
||||
public float getRotation() {
|
||||
return this.rotation;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
170
src/main/sarl/fr/utbm/info/vi51/eurock/gui/GUI.java
Normal file
170
src/main/sarl/fr/utbm/info/vi51/eurock/gui/GUI.java
Normal file
|
|
@ -0,0 +1,170 @@
|
|||
/*
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2011-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.eurock.gui;
|
||||
|
||||
import java.awt.Color;
|
||||
import java.awt.Font;
|
||||
import java.awt.Graphics2D;
|
||||
import java.awt.GridLayout;
|
||||
import java.awt.Rectangle;
|
||||
import java.awt.Shape;
|
||||
import java.awt.event.ActionEvent;
|
||||
import java.awt.event.ActionListener;
|
||||
import java.awt.geom.Line2D;
|
||||
import java.io.Serializable;
|
||||
import java.text.DecimalFormat;
|
||||
import java.text.NumberFormat;
|
||||
|
||||
import javax.swing.JCheckBox;
|
||||
import javax.swing.JComponent;
|
||||
import javax.swing.JPanel;
|
||||
import javax.swing.JSlider;
|
||||
|
||||
import fr.utbm.info.vi51.eurock.MainProgram;
|
||||
import fr.utbm.info.vi51.framework.gui.AbstractFrameworkGUI;
|
||||
import fr.utbm.info.vi51.framework.math.Point2f;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.framework.time.TimeManager;
|
||||
import fr.utbm.info.vi51.framework.util.LocalizedString;
|
||||
import fr.utbm.info.vi51.framework.util.Resources;
|
||||
|
||||
/** UI for the rabbits.
|
||||
*
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
* @version $Name$ $Revision$ $Date$
|
||||
*/
|
||||
public class GUI extends AbstractFrameworkGUI {
|
||||
|
||||
private static final long serialVersionUID = 7958401897774129069L;
|
||||
|
||||
/** Size of the direction vector (in pixels).
|
||||
*/
|
||||
private static final float DIRECTION_RADIUS = 30f;
|
||||
|
||||
private JCheckBox showPositions;
|
||||
|
||||
/**
|
||||
* @param worldWidth
|
||||
* @param worldHeight
|
||||
* @param formations
|
||||
*/
|
||||
public GUI(float worldWidth, float worldHeight, TimeManager timeManager) {
|
||||
super(
|
||||
LocalizedString.getString(MainProgram.class, "PROGRAM_NAME"), //$NON-NLS-1$
|
||||
worldWidth,
|
||||
worldHeight,
|
||||
Resources.getResource(GUI.class, "icon.png"), //$NON-NLS-1$
|
||||
timeManager);
|
||||
}
|
||||
|
||||
@Override
|
||||
protected boolean isMouseCursorHidden() {
|
||||
// Hide the mouse cursor since a carrot icon is displayed at the same location.
|
||||
return false;
|
||||
}
|
||||
|
||||
@Override
|
||||
protected JComponent createBottomPanel(JSlider speedSlider, JComponent closeButton, JComponent messageBox) {
|
||||
JPanel bottomPanel = new JPanel();
|
||||
bottomPanel.setLayout(new GridLayout(6, 1));
|
||||
this.showPositions = new JCheckBox(LocalizedString.getString(getClass(), "SHOW_POSITIONS")); //$NON-NLS-1$
|
||||
this.showPositions.addActionListener(new ActionListener() {
|
||||
@Override
|
||||
public void actionPerformed(ActionEvent e) {
|
||||
repaint();
|
||||
}
|
||||
});
|
||||
bottomPanel.add(speedSlider);
|
||||
bottomPanel.add(this.showPositions);
|
||||
bottomPanel.add(closeButton);
|
||||
bottomPanel.add(messageBox);
|
||||
return bottomPanel;
|
||||
}
|
||||
|
||||
@Override
|
||||
protected void paintAgentBody(Graphics2D g2d,
|
||||
Point2f positionOnScreen,
|
||||
Vector2f orientationOnScreen,
|
||||
Shape shape, Serializable type, String name,
|
||||
Point2f positionInMAS,
|
||||
Shape frustum) {
|
||||
Rectangle bounds = shape.getBounds();
|
||||
g2d.setColor(Color.BLUE);
|
||||
orientationOnScreen.scale(DIRECTION_RADIUS);
|
||||
g2d.draw(new Line2D.Float(
|
||||
positionOnScreen.getX(),
|
||||
positionOnScreen.getY(),
|
||||
positionOnScreen.getX() + orientationOnScreen.getX(),
|
||||
positionOnScreen.getY() + orientationOnScreen.getY()));
|
||||
g2d.fill(shape);
|
||||
if (this.showPositions.isSelected()) {
|
||||
Font oldFont = g2d.getFont();
|
||||
Font f = oldFont.deriveFont(6);
|
||||
g2d.setColor(g2d.getBackground().darker());
|
||||
g2d.setFont(f);
|
||||
NumberFormat fmt = new DecimalFormat("#.#");
|
||||
g2d.drawString(
|
||||
"(" + fmt.format(positionInMAS.getX()) + ";" + fmt.format(positionInMAS.getY()) + ")",
|
||||
(float) bounds.getMaxX() + 2,
|
||||
(float) bounds.getMaxY() + 2);
|
||||
g2d.setFont(oldFont);
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
protected void paintSituatedObject(Graphics2D g2d,
|
||||
Point2f positionOnScreen,
|
||||
Vector2f orientationOnScreen,
|
||||
Shape shape, Serializable type, String name,
|
||||
Point2f positionInMAS) {
|
||||
Rectangle bounds = shape.getBounds();
|
||||
g2d.setColor(Color.GREEN);
|
||||
|
||||
if ("TARGET".equals(type)) {
|
||||
g2d.setColor(Color.RED);
|
||||
}
|
||||
|
||||
g2d.fill(shape);
|
||||
if (orientationOnScreen != null) {
|
||||
g2d.setColor(g2d.getBackground());
|
||||
Vector2f v = orientationOnScreen.operator_multiply(
|
||||
(float) Math.max(bounds.getWidth(), bounds.getHeight()));
|
||||
g2d.draw(new Line2D.Float(
|
||||
positionOnScreen.getX(),
|
||||
positionOnScreen.getY(),
|
||||
positionOnScreen.getX() + v.getX(),
|
||||
positionOnScreen.getY() + v.getY()));
|
||||
}
|
||||
if (this.showPositions.isSelected()) {
|
||||
Font oldFont = g2d.getFont();
|
||||
Font f = oldFont.deriveFont(6);
|
||||
g2d.setColor(g2d.getBackground().darker());
|
||||
g2d.setFont(f);
|
||||
NumberFormat fmt = new DecimalFormat("#.#");
|
||||
g2d.drawString(
|
||||
"(" + fmt.format(positionInMAS.getX()) + ";" + fmt.format(positionInMAS.getY()) + ")",
|
||||
(float) bounds.getMaxX() + 2,
|
||||
(float) bounds.getMaxY() + 2);
|
||||
g2d.setFont(oldFont);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
BIN
src/main/sarl/fr/utbm/info/vi51/eurock/gui/icon.png
Normal file
BIN
src/main/sarl/fr/utbm/info/vi51/eurock/gui/icon.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 2.4 KiB |
122
src/main/sarl/fr/utbm/info/vi51/framework/FrameworkLauncher.java
Normal file
122
src/main/sarl/fr/utbm/info/vi51/framework/FrameworkLauncher.java
Normal file
|
|
@ -0,0 +1,122 @@
|
|||
/*
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2014-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.framework;
|
||||
|
||||
import java.util.UUID;
|
||||
import java.util.concurrent.atomic.AtomicBoolean;
|
||||
import java.util.logging.Level;
|
||||
|
||||
import fr.utbm.info.vi51.framework.environment.DynamicType;
|
||||
import fr.utbm.info.vi51.framework.environment.Environment;
|
||||
import fr.utbm.info.vi51.framework.environment.StopSimulation;
|
||||
import fr.utbm.info.vi51.framework.gui.FrameworkGUI;
|
||||
import fr.utbm.info.vi51.framework.util.SpawnMapping;
|
||||
import io.janusproject.Boot;
|
||||
import io.janusproject.JanusConfig;
|
||||
import io.janusproject.services.contextspace.ContextSpaceService;
|
||||
import io.janusproject.util.LoggerCreator;
|
||||
import io.sarl.lang.core.Address;
|
||||
import io.sarl.lang.core.AgentContext;
|
||||
import io.sarl.lang.core.EventSpace;
|
||||
|
||||
/**
|
||||
* Launcher of the simulation framework.
|
||||
*
|
||||
* This launcher needs the {@link http://www.janusproject.io Janus platform}.
|
||||
*
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
* @version $Name$ $Revision$ $Date$
|
||||
*/
|
||||
public class FrameworkLauncher {
|
||||
|
||||
private static UUID environmentInteractionSpace = null;
|
||||
private static Environment environmentSingleton = null;
|
||||
private static FrameworkGUI uiSingleton = null;
|
||||
private static io.janusproject.kernel.Kernel kernel = null;
|
||||
private static final AtomicBoolean canStop = new AtomicBoolean(false);
|
||||
|
||||
/** Launch the simulation and its associated UI.
|
||||
*
|
||||
* @param environment is the environment to use.
|
||||
* @param spawnMapping the mapping from body to agent type.
|
||||
* @param behaviorType the type of the agent behaviors.
|
||||
* @param gui is the GUI to launch.
|
||||
* @param parameters the parameters to give to every agent.
|
||||
* @throws Exception if the Janus platform cannot be started.
|
||||
*/
|
||||
@SuppressWarnings({ "unchecked", "rawtypes" })
|
||||
public static void launchSimulation(Environment environment, SpawnMapping spawnMapping,
|
||||
DynamicType behaviorType, FrameworkGUI gui, Object... parameters) throws Exception {
|
||||
Boot.setOffline(true);
|
||||
Boot.setVerboseLevel(LoggerCreator.toInt(Level.INFO));
|
||||
Boot.showJanusLogo();
|
||||
|
||||
environmentInteractionSpace = UUID.randomUUID();
|
||||
|
||||
uiSingleton = gui;
|
||||
environmentSingleton = environment;
|
||||
|
||||
Object[] params = new Object[4 + parameters.length];
|
||||
params[0] = environmentSingleton;
|
||||
params[1] = environmentInteractionSpace;
|
||||
params[2] = spawnMapping;
|
||||
params[3] = behaviorType;
|
||||
System.arraycopy(parameters, 0, params, 4, parameters.length);
|
||||
|
||||
kernel = Boot.startJanus(
|
||||
(Class) null,
|
||||
SimulatorAgent.class,
|
||||
params);
|
||||
if (uiSingleton != null) {
|
||||
if (environmentSingleton != null) {
|
||||
environmentSingleton.addEnvironmentListener(uiSingleton);
|
||||
}
|
||||
uiSingleton.setVisible(true);
|
||||
}
|
||||
canStop.set(true);
|
||||
}
|
||||
|
||||
/** Stop the simulation right now.
|
||||
*/
|
||||
public static void stopSimulation() {
|
||||
if (!canStop.get()) {
|
||||
throw new IllegalStateException("You must call startSimulation() before stopSimulation().");
|
||||
}
|
||||
AgentContext context = kernel.getService(ContextSpaceService.class).getContext(
|
||||
UUID.fromString(JanusConfig.DEFAULT_CONTEXT_ID_VALUE));
|
||||
EventSpace space = context.getDefaultSpace();
|
||||
Address adr = new Address(space.getID(), UUID.randomUUID());
|
||||
StopSimulation sSimulation = new StopSimulation(adr);
|
||||
context.getDefaultSpace().emit(sSimulation);
|
||||
if (uiSingleton!=null) {
|
||||
uiSingleton.setVisible(false);
|
||||
if (environmentSingleton != null) {
|
||||
environmentSingleton.removeEnvironmentListener(uiSingleton);
|
||||
}
|
||||
uiSingleton.dispose();
|
||||
}
|
||||
environmentSingleton = null;
|
||||
environmentInteractionSpace = null;
|
||||
uiSingleton = null;
|
||||
kernel = null;
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,154 @@
|
|||
/*
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2011-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.framework.agent;
|
||||
|
||||
import java.io.Serializable;
|
||||
|
||||
import fr.utbm.info.vi51.framework.environment.DynamicType;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
|
||||
/**
|
||||
* Output of a behaviour.
|
||||
*
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
* @version $Name$ $Revision$ $Date$
|
||||
*/
|
||||
public class BehaviourOutput implements Serializable {
|
||||
|
||||
private static final long serialVersionUID = 1243172129345360316L;
|
||||
|
||||
private final DynamicType type;
|
||||
private final Vector2f linear = new Vector2f();
|
||||
private float angular = 0;
|
||||
|
||||
/**
|
||||
* @param type is the type of the output.
|
||||
*/
|
||||
public BehaviourOutput(DynamicType type) {
|
||||
this.type = type;
|
||||
}
|
||||
|
||||
/**
|
||||
* @param outputToCopy is the output tp copy.
|
||||
*/
|
||||
public BehaviourOutput(BehaviourOutput outputToCopy) {
|
||||
assert(outputToCopy!=null);
|
||||
this.type = outputToCopy.getType();
|
||||
this.linear.set(outputToCopy.getLinear());
|
||||
this.angular = outputToCopy.getAngular();
|
||||
}
|
||||
|
||||
/** Replies the type of the output.
|
||||
*
|
||||
* @return the type of the output.
|
||||
*/
|
||||
public DynamicType getType() {
|
||||
return this.type;
|
||||
}
|
||||
|
||||
/** Replies the linear output.
|
||||
*
|
||||
* @return the linear output.
|
||||
*/
|
||||
public Vector2f getLinear() {
|
||||
return this.linear;
|
||||
}
|
||||
|
||||
/** Replies the angular output.
|
||||
*
|
||||
* @return the angular output.
|
||||
*/
|
||||
public float getAngular() {
|
||||
return this.angular;
|
||||
}
|
||||
|
||||
/** Set the linear output.
|
||||
*
|
||||
* @param linear
|
||||
*/
|
||||
public void setLinear(Vector2f linear) {
|
||||
assert(linear!=null);
|
||||
this.linear.set(linear);
|
||||
}
|
||||
|
||||
/** Set the linear output.
|
||||
*
|
||||
* @param dx
|
||||
* @param dy
|
||||
*/
|
||||
public void setLinear(float dx, float dy) {
|
||||
this.linear.set(dx, dy);
|
||||
}
|
||||
|
||||
/** Set the angular output.
|
||||
*
|
||||
* @param angular
|
||||
*/
|
||||
public void setAngular(float angular) {
|
||||
this.angular = angular;
|
||||
}
|
||||
|
||||
/** Set the linear output.
|
||||
*
|
||||
* @param outputToCopy
|
||||
*/
|
||||
public void setLinear(BehaviourOutput outputToCopy) {
|
||||
if (outputToCopy!=null) {
|
||||
if (outputToCopy.getType()!=getType()) {
|
||||
throw new IllegalArgumentException();
|
||||
}
|
||||
this.linear.set(outputToCopy.getLinear());
|
||||
}
|
||||
}
|
||||
|
||||
/** Set the angular output.
|
||||
*
|
||||
* @param outputToCopy
|
||||
*/
|
||||
public void setAngular(BehaviourOutput outputToCopy) {
|
||||
if (outputToCopy!=null) {
|
||||
if (outputToCopy.getType()!=getType()) {
|
||||
throw new IllegalArgumentException();
|
||||
}
|
||||
this.angular = outputToCopy.getAngular();
|
||||
}
|
||||
}
|
||||
|
||||
/** Set the linear and angular output.
|
||||
*
|
||||
* @param outputToCopy
|
||||
*/
|
||||
public void set(BehaviourOutput outputToCopy) {
|
||||
if (outputToCopy!=null) {
|
||||
if (outputToCopy.getType()!=getType()) {
|
||||
throw new IllegalArgumentException();
|
||||
}
|
||||
this.linear.set(outputToCopy.getLinear());
|
||||
this.angular = outputToCopy.getAngular();
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public String toString() {
|
||||
return "l=" + this.linear.toString() + "; a=" + this.angular;
|
||||
}
|
||||
|
||||
}
|
||||
78
src/main/sarl/fr/utbm/info/vi51/framework/agent/agent.sarl
Normal file
78
src/main/sarl/fr/utbm/info/vi51/framework/agent/agent.sarl
Normal file
|
|
@ -0,0 +1,78 @@
|
|||
/*
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2014-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.framework.^agent
|
||||
|
||||
import fr.utbm.info.vi51.framework.environment.DynamicType
|
||||
import fr.utbm.info.vi51.framework.environment.Influence
|
||||
import fr.utbm.info.vi51.framework.environment.Percept
|
||||
import fr.utbm.info.vi51.framework.environment.StopSimulation
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f
|
||||
import io.sarl.core.Initialize
|
||||
import io.sarl.core.Lifecycle
|
||||
import java.util.List
|
||||
import java.util.UUID
|
||||
|
||||
agent AbstractAnimat {
|
||||
|
||||
uses PhysicEnvironment, Lifecycle
|
||||
|
||||
var behaviorType : DynamicType
|
||||
|
||||
on Initialize {
|
||||
var physicSkill = new StandardPhysicEnvironment(
|
||||
occurrence.parameters.get(0) as UUID,
|
||||
occurrence.parameters.get(1) as UUID)
|
||||
this.behaviorType = occurrence.parameters.get(2) as DynamicType
|
||||
setSkill(PhysicEnvironment, physicSkill)
|
||||
}
|
||||
|
||||
def getMaxLinear(p : Percept) : float {
|
||||
if (this.behaviorType == DynamicType::STEERING) p.maxLinearAcceleration else p.maxLinearSpeed
|
||||
}
|
||||
|
||||
def getMaxAngular(p : Percept) : float {
|
||||
if (this.behaviorType == DynamicType::STEERING) p.maxAngularAcceleration else p.maxAngularSpeed
|
||||
}
|
||||
|
||||
def emitInfluence(output : BehaviourOutput , influences : Influence*) {
|
||||
if (output !== null) {
|
||||
if (output.getType() === DynamicType::STEERING)
|
||||
influenceSteering(output.linear, output.angular, influences)
|
||||
else
|
||||
influenceKinematic(output.linear, output.angular, influences);
|
||||
} else {
|
||||
influenceSteering(new Vector2f, 0f, influences)
|
||||
}
|
||||
}
|
||||
|
||||
def doNothing {
|
||||
influenceKinematic(new Vector2f, 0f)
|
||||
}
|
||||
|
||||
def first(list : List<Percept>) : Percept {
|
||||
if (list.isEmpty) null else list.get(0)
|
||||
}
|
||||
|
||||
on StopSimulation {
|
||||
killMe
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,45 @@
|
|||
/*
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2014-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.framework.^agent
|
||||
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f
|
||||
import fr.utbm.info.vi51.framework.environment.Influence
|
||||
|
||||
capacity PhysicEnvironment {
|
||||
|
||||
/** Invoked to send the influence to the environment.
|
||||
*
|
||||
* @param linearInfluence is the linear influence to apply on the object.
|
||||
* @param angularInfluence is the angular influence to apply on the object.
|
||||
* @param otherInfluences other influences to emit in parallel to the motion influence.
|
||||
*/
|
||||
def influenceKinematic(linearInfluence : Vector2f = null, angularInfluence : float = 0f, otherInfluences : Influence*)
|
||||
|
||||
/** Invoked to send the influence to the environment.
|
||||
*
|
||||
* @param linearInfluence is the linear influence to apply on the object.
|
||||
* @param angularInfluence is the angular influence to apply on the object.
|
||||
* @param otherInfluences other influences to emit in parallel to the motion influence.
|
||||
*/
|
||||
def influenceSteering(linearInfluence : Vector2f = null, angularInfluence : float = 0f, otherInfluences : Influence*)
|
||||
|
||||
}
|
||||
|
||||
102
src/main/sarl/fr/utbm/info/vi51/framework/agent/skill.sarl
Normal file
102
src/main/sarl/fr/utbm/info/vi51/framework/agent/skill.sarl
Normal file
|
|
@ -0,0 +1,102 @@
|
|||
/*
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2014-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.framework.^agent
|
||||
|
||||
import fr.utbm.info.vi51.framework.environment.DynamicType
|
||||
import fr.utbm.info.vi51.framework.environment.Influence
|
||||
import fr.utbm.info.vi51.framework.environment.InfluenceEvent
|
||||
import fr.utbm.info.vi51.framework.environment.KillInfluence
|
||||
import fr.utbm.info.vi51.framework.environment.MotionInfluence
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f
|
||||
import fr.utbm.info.vi51.framework.util.AddressUUIDScope
|
||||
import io.sarl.core.Behaviors
|
||||
import io.sarl.core.DefaultContextInteractions
|
||||
import io.sarl.lang.core.Address
|
||||
import io.sarl.util.OpenEventSpace
|
||||
import java.lang.reflect.Array
|
||||
import java.util.UUID
|
||||
|
||||
skill StandardPhysicEnvironment implements PhysicEnvironment {
|
||||
|
||||
uses DefaultContextInteractions, Behaviors
|
||||
|
||||
val spaceID : UUID
|
||||
val environmentID : UUID
|
||||
var physicSpace : OpenEventSpace
|
||||
var myAdr : Address
|
||||
|
||||
new (spaceID : UUID, environmentID : UUID) {
|
||||
this.environmentID = environmentID
|
||||
this.spaceID = spaceID
|
||||
}
|
||||
|
||||
override install {
|
||||
do {
|
||||
this.physicSpace = defaultContext.getSpace(this.spaceID)
|
||||
Thread::yield
|
||||
} while (this.physicSpace === null)
|
||||
this.physicSpace.register(asEventListener)
|
||||
this.myAdr = this.physicSpace.getAddress(owner.ID)
|
||||
}
|
||||
|
||||
override uninstall() {
|
||||
var ^event = new InfluenceEvent(new KillInfluence)
|
||||
^event.source = this.myAdr
|
||||
this.physicSpace.emit(^event, new AddressUUIDScope(this.environmentID))
|
||||
this.physicSpace = null
|
||||
}
|
||||
|
||||
override influenceKinematic(linearInfluence : Vector2f = null, angularInfluence : float = 0f, otherInfluences : Influence*) {
|
||||
var mi : MotionInfluence
|
||||
if (linearInfluence === null) {
|
||||
mi = new MotionInfluence(DynamicType::KINEMATIC, angularInfluence)
|
||||
} else {
|
||||
mi = new MotionInfluence(DynamicType::KINEMATIC, linearInfluence, angularInfluence)
|
||||
}
|
||||
emitInfluences(mi, otherInfluences)
|
||||
}
|
||||
|
||||
override influenceSteering(linearInfluence : Vector2f = null, angularInfluence : float = 0f, otherInfluences : Influence*) {
|
||||
var mi : MotionInfluence
|
||||
if (linearInfluence === null) {
|
||||
mi = new MotionInfluence(DynamicType::STEERING, angularInfluence)
|
||||
} else {
|
||||
mi = new MotionInfluence(DynamicType::STEERING, linearInfluence, angularInfluence)
|
||||
}
|
||||
emitInfluences(mi, otherInfluences)
|
||||
}
|
||||
|
||||
def emitInfluences(motionInfluence : MotionInfluence, otherInfluences : Influence*) {
|
||||
var influences : Influence[]
|
||||
if (otherInfluences.isEmpty) {
|
||||
influences = Array::newInstance(typeof(Influence), 1) as Influence[]
|
||||
influences.set(0, motionInfluence)
|
||||
} else {
|
||||
influences = Array::newInstance(typeof(Influence), otherInfluences.length + 1) as Influence[]
|
||||
influences.set(0, motionInfluence)
|
||||
System::arraycopy(otherInfluences, 0, influences, 1, otherInfluences.length)
|
||||
}
|
||||
var ^event = new InfluenceEvent(influences)
|
||||
^event.source = this.myAdr
|
||||
this.physicSpace.emit(^event, new AddressUUIDScope(this.environmentID))
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,351 @@
|
|||
/*
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2011-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.framework.environment;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.Collection;
|
||||
import java.util.Collections;
|
||||
import java.util.List;
|
||||
import java.util.Map;
|
||||
import java.util.TreeMap;
|
||||
import java.util.UUID;
|
||||
import java.util.concurrent.atomic.AtomicBoolean;
|
||||
|
||||
import fr.utbm.info.vi51.framework.math.Point2f;
|
||||
import fr.utbm.info.vi51.framework.math.Vector2f;
|
||||
import fr.utbm.info.vi51.framework.time.TimeManager;
|
||||
|
||||
/**
|
||||
* Abstract implementation of a situated environment.
|
||||
*
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
* @version $Name$ $Revision$ $Date$
|
||||
*/
|
||||
public abstract class AbstractEnvironment implements Environment {
|
||||
|
||||
private final Map<UUID,AgentBody> agentBodies = new TreeMap<UUID,AgentBody>();
|
||||
private final TimeManager timeManager;
|
||||
private final float width;
|
||||
private final float height;
|
||||
private final Collection<EnvironmentListener> listeners = new ArrayList<EnvironmentListener>();
|
||||
private final AtomicBoolean stateChanged = new AtomicBoolean();
|
||||
private final AtomicBoolean init = new AtomicBoolean(true);
|
||||
|
||||
/**
|
||||
* @param width is the width of the environment.
|
||||
* @param height is the height of the environment.
|
||||
* @param timeManager is the time manager to use.
|
||||
*/
|
||||
public AbstractEnvironment(float width, float height, TimeManager timeManager) {
|
||||
this.width = width;
|
||||
this.height = height;
|
||||
this.timeManager = timeManager;
|
||||
}
|
||||
|
||||
/** Mark the state of the environment as changed.
|
||||
*/
|
||||
protected void stateChanged() {
|
||||
this.stateChanged.set(true);
|
||||
}
|
||||
|
||||
/** {@inheritDoc}
|
||||
*/
|
||||
public void addEnvironmentListener(EnvironmentListener listener) {
|
||||
synchronized(this.listeners) {
|
||||
this.listeners.add(listener);
|
||||
}
|
||||
}
|
||||
|
||||
/** {@inheritDoc}
|
||||
*/
|
||||
public void removeEnvironmentListener(EnvironmentListener listener) {
|
||||
synchronized(this.listeners) {
|
||||
this.listeners.remove(listener);
|
||||
}
|
||||
}
|
||||
|
||||
/** Invoked to create an environment event.
|
||||
*
|
||||
* @return an environment event.
|
||||
*/
|
||||
protected EnvironmentEvent createEnvironmentEvent() {
|
||||
return new EnvironmentEvent(this);
|
||||
}
|
||||
|
||||
/** Notifies listeners about changes in environment.
|
||||
*/
|
||||
protected void fireEnvironmentChange() {
|
||||
EnvironmentListener[] list;
|
||||
synchronized(this.listeners) {
|
||||
list = new EnvironmentListener[this.listeners.size()];
|
||||
this.listeners.toArray(list);
|
||||
}
|
||||
EnvironmentEvent event = createEnvironmentEvent();
|
||||
for(EnvironmentListener listener : list) {
|
||||
listener.environmentChanged(event);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
public TimeManager getTimeManager() {
|
||||
return this.timeManager;
|
||||
}
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
public float getWidth() {
|
||||
return this.width;
|
||||
}
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
public float getHeight() {
|
||||
return this.height;
|
||||
}
|
||||
|
||||
/** Add an agent body.
|
||||
* This function could be call before the simulation is started.
|
||||
*
|
||||
* @param body - the body.
|
||||
* @param position - the position of the body.
|
||||
* @param direction - the direction of the body.
|
||||
*/
|
||||
protected synchronized void addAgentBody(AgentBody body, Point2f position, float direction) {
|
||||
if (this.init.get()) {
|
||||
this.agentBodies.put(body.getID(), body);
|
||||
body.setPosition(position.getX(), position.getY());
|
||||
body.setAngle(direction);
|
||||
onAgentBodyCreated(body);
|
||||
} else {
|
||||
throw new IllegalStateException("You cannot call this function after the start of the simulation");
|
||||
}
|
||||
}
|
||||
|
||||
/** Invoked when an agent body is created.
|
||||
*
|
||||
* @param body the body.
|
||||
*/
|
||||
protected abstract void onAgentBodyCreated(AgentBody body);
|
||||
|
||||
/** Invoked when an agent body is destroyed.
|
||||
*
|
||||
* @param body the body.
|
||||
*/
|
||||
protected abstract void onAgentBodyDestroyed(AgentBody body);
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
public WorldModelState getState() {
|
||||
return new WorldModelState(this);
|
||||
}
|
||||
|
||||
/** Replies the bodies in the environment.
|
||||
*
|
||||
* The replied collection is unmodifiable.
|
||||
*
|
||||
* @return the bodies in the environment.
|
||||
*/
|
||||
public Iterable<AgentBody> getAgentBodies() {
|
||||
return Collections.unmodifiableCollection(this.agentBodies.values());
|
||||
}
|
||||
|
||||
@Override
|
||||
public int getAgentBodyNumber() {
|
||||
return this.agentBodies.size();
|
||||
}
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
public AgentBody getAgentBodyFor(UUID agentId) {
|
||||
return this.agentBodies.get(agentId);
|
||||
}
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
public void runBehaviour() {
|
||||
if (this.init.getAndSet(false)) {
|
||||
fireEnvironmentChange();
|
||||
}
|
||||
|
||||
this.stateChanged.set(false);
|
||||
|
||||
Collection<MotionInfluence> motionInfluences = new ArrayList<>();
|
||||
Collection<Influence> otherInfluences = new ArrayList<>();
|
||||
for(AgentBody body : this.agentBodies.values()) {
|
||||
MotionInfluence mi = body.consumeMotionInfluence();
|
||||
if (mi != null) {
|
||||
motionInfluences.add(mi);
|
||||
}
|
||||
for (Influence i : body.consumeOtherInfluences()) {
|
||||
if (i instanceof KillInfluence) {
|
||||
stateChanged();
|
||||
AgentBody rbody = this.agentBodies.remove(i.getEmitter());
|
||||
if (rbody != null) {
|
||||
onAgentBodyDestroyed(rbody);
|
||||
}
|
||||
} else {
|
||||
otherInfluences.add(i);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
for(Influence i : computeEndogenousBehaviorInfluences()) {
|
||||
if (i instanceof MotionInfluence) {
|
||||
motionInfluences.add((MotionInfluence) i);
|
||||
} else if (!(i instanceof KillInfluence)) {
|
||||
otherInfluences.add(i);
|
||||
}
|
||||
}
|
||||
|
||||
if (!motionInfluences.isEmpty() || !otherInfluences.isEmpty()) {
|
||||
applyInfluences(
|
||||
motionInfluences,
|
||||
otherInfluences,
|
||||
this.timeManager);
|
||||
}
|
||||
|
||||
if (this.stateChanged.get()) {
|
||||
fireEnvironmentChange();
|
||||
}
|
||||
|
||||
this.timeManager.increment();
|
||||
|
||||
List<Percept> list;
|
||||
for(AgentBody body : this.agentBodies.values()) {
|
||||
list = computePerceptionsFor(body);
|
||||
if (list==null) list = Collections.emptyList();
|
||||
body.setPerceptions(list);
|
||||
}
|
||||
}
|
||||
|
||||
/** Compute the influences for the endogenous behavior of the environment.
|
||||
*
|
||||
* @return the list of the environment influences.
|
||||
*/
|
||||
protected abstract List<Influence> computeEndogenousBehaviorInfluences();
|
||||
|
||||
/** Compute the perceptions for an agent body.
|
||||
*
|
||||
* @param agent is the body of the perceiver.
|
||||
* @return the list of the perceived object, never <code>null</code>
|
||||
*/
|
||||
protected abstract List<Percept> computePerceptionsFor(AgentBody agent);
|
||||
|
||||
/** Detects conflicts between influences and applied resulting actions.
|
||||
*
|
||||
* @param motionInfluences are the motion influences to apply.
|
||||
* @param otherInfluences are the other influences to apply.
|
||||
* @param timeManager is the time manager of the environment.
|
||||
*/
|
||||
protected abstract void applyInfluences(Collection<MotionInfluence> motionInfluences,
|
||||
Collection<Influence> otherInfluences, TimeManager timeManager);
|
||||
|
||||
/** Compute a steering move according to the linear move and to
|
||||
* the internal attributes of this object.
|
||||
*
|
||||
* @param obj is the object to move.
|
||||
* @param move is the requested motion.
|
||||
* @param clock is the simulation time manager
|
||||
* @return the linear instant motion.
|
||||
*/
|
||||
protected final Vector2f computeSteeringTranslation(MobileObject obj, Vector2f move, TimeManager clock) {
|
||||
if (obj instanceof AbstractMobileObject) {
|
||||
AbstractMobileObject o = (AbstractMobileObject)obj;
|
||||
return o.computeSteeringTranslation(move, clock);
|
||||
}
|
||||
throw new IllegalArgumentException("obj"); //$NON-NLS-1$
|
||||
}
|
||||
|
||||
/** Compute a kinematic move according to the linear move and to
|
||||
* the internal attributes of this object.
|
||||
*
|
||||
* @param obj is the object to move.
|
||||
* @param move is the requested motion.
|
||||
* @param clock is the simulation time manager
|
||||
* @return the linear instant motion.
|
||||
*/
|
||||
protected final Vector2f computeKinematicTranslation(MobileObject obj, Vector2f move, TimeManager clock) {
|
||||
if (obj instanceof AbstractMobileObject) {
|
||||
AbstractMobileObject o = (AbstractMobileObject)obj;
|
||||
return o.computeKinematicTranslation(move, clock);
|
||||
}
|
||||
throw new IllegalArgumentException("obj"); //$NON-NLS-1$
|
||||
}
|
||||
|
||||
/** Compute a kinematic move according to the angular move and to
|
||||
* the internal attributes of this object.
|
||||
*
|
||||
* @param obj is the object to move.
|
||||
* @param move is the requested motion.
|
||||
* @param clock is the simulation time manager
|
||||
* @return the angular instant motion.
|
||||
*/
|
||||
protected final float computeKinematicRotation(MobileObject obj, float move, TimeManager clock) {
|
||||
if (obj instanceof AbstractMobileObject) {
|
||||
AbstractMobileObject o = (AbstractMobileObject)obj;
|
||||
return o.computeKinematicRotation(move, clock);
|
||||
}
|
||||
throw new IllegalArgumentException("obj"); //$NON-NLS-1$
|
||||
}
|
||||
|
||||
/** Compute a steering move according to the angular move and to
|
||||
* the internal attributes of this object.
|
||||
*
|
||||
* @param obj is the object to move.
|
||||
* @param move is the requested motion.
|
||||
* @param clock is the simulation time manager
|
||||
* @return the angular instant motion.
|
||||
*/
|
||||
protected final float computeSteeringRotation(MobileObject obj, float move, TimeManager clock) {
|
||||
if (obj instanceof AbstractMobileObject) {
|
||||
AbstractMobileObject o = (AbstractMobileObject)obj;
|
||||
return o.computeSteeringRotation(move, clock);
|
||||
}
|
||||
throw new IllegalArgumentException("obj"); //$NON-NLS-1$
|
||||
}
|
||||
|
||||
/** Move the given object.
|
||||
*
|
||||
* @param obj is the object to move.
|
||||
* @param instantTranslation is the linear motion in m
|
||||
* @param instantRotation is the angular motion in r
|
||||
*/
|
||||
protected final void move(MobileObject obj, Vector2f instantTranslation, float instantRotation) {
|
||||
if (obj instanceof AbstractMobileObject) {
|
||||
AbstractMobileObject o = (AbstractMobileObject)obj;
|
||||
float duration = this.timeManager.getLastStepDuration();
|
||||
o.move(instantTranslation.getX(), instantTranslation.getY(), duration, getWidth(), getHeight());
|
||||
o.rotate(instantRotation, duration);
|
||||
stateChanged();
|
||||
}
|
||||
else {
|
||||
throw new IllegalArgumentException("obj"); //$NON-NLS-1$
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,105 @@
|
|||
/*
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (c) 2011-15 Stephane GALLAND <stephane.galland@utbm.fr>.
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
*/
|
||||
package fr.utbm.info.vi51.framework.environment;
|
||||
|
||||
import java.util.Iterator;
|
||||
import java.util.NoSuchElementException;
|
||||
import java.util.Objects;
|
||||
import java.util.UUID;
|
||||
|
||||
/**
|
||||
* Abstract implementation of a field-of-view.
|
||||
* This implementation provides the default filtering behavior: remove the perceiver's body
|
||||
* from the perception.
|
||||
*
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
* @version $Name$ $Revision$ $Date$
|
||||
*/
|
||||
public abstract class AbstractFrustum implements Frustum {
|
||||
|
||||
private static final long serialVersionUID = -6917303628628755437L;
|
||||
|
||||
private final UUID owner;
|
||||
|
||||
/**
|
||||
* @param owner the identifier of the owner of this frustum.
|
||||
*/
|
||||
public AbstractFrustum(UUID owner) {
|
||||
this.owner = owner;
|
||||
}
|
||||
|
||||
@Override
|
||||
public UUID getOwner() {
|
||||
return this.owner;
|
||||
}
|
||||
|
||||
@Override
|
||||
public <D extends SituatedObject> Iterator<D> filter(Iterator<D> iterator) {
|
||||
return new PerceiverBodyFilter<>(iterator);
|
||||
}
|
||||
|
||||
/**
|
||||
* @author Stéphane GALLAND <stephane.galland@utbm.fr>
|
||||
* @version $Name$ $Revision$ $Date$
|
||||
*/
|
||||
private class PerceiverBodyFilter<D extends SituatedObject> implements Iterator<D> {
|
||||
|
||||
private final Iterator<D> original;
|
||||
private D next;
|
||||
|
||||
public PerceiverBodyFilter(Iterator<D> original) {
|
||||
this.original = original;
|
||||
searchNext();
|
||||
}
|
||||
|
||||
private void searchNext() {
|
||||
this.next = null;
|
||||
while (this.next == null && this.original.hasNext()) {
|
||||
D candidate = this.original.next();
|
||||
if (!Objects.equals(candidate.getID(), getOwner())) {
|
||||
this.next = candidate;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean hasNext() {
|
||||
return this.next != null;
|
||||
}
|
||||
|
||||
@Override
|
||||
public D next() {
|
||||
D n = this.next;
|
||||
if (n == null) {
|
||||
throw new NoSuchElementException();
|
||||
}
|
||||
searchNext();
|
||||
return n;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void remove() {
|
||||
throw new UnsupportedOperationException();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show more
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Reference in a new issue