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‎README.md‎

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@@ -215,6 +215,12 @@ This method returns the angular velocity of the agent in radians per second and
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> `int id()`<br>
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This method returns a unique id of the agent.
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> `void prevent_rotation()`<br>
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Prevents the agent from rotating. Probably best to call in the init function. Good for platformer type movement. Technically sets the moment of inertia to infinity. &#x246D; New in 1.4.
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> `void allow_rotation()` <br>
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Allows the agent to rotate, setting the moment of inertia to the default number (based on the mass and shape of the agent). &#x246D; New in 1.4.
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Motion Control for Oriented Agents
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---
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‎examples/platformer/Makefile‎

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TARGET := bin/enviro
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all:
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$(MAKE) -C src all
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clean:
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$(MAKE) -C src clean
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‎examples/platformer/config.json‎

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{
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"name": "My Enviro Project",
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"ip": "0.0.0.0",
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"port": 8765,
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"buttons": [],
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"agents": [
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{
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"definition": "defs/guy.json",
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"style": { "fill": "lightblue", "stroke": "black" },
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"position": {
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"x": 0,
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"y": 135,
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"theta": 0
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}
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},
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{
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"definition": "defs/bumper.json",
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"style": { "fill": "red", "stroke": "none" },
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"position": {
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"x": -145,
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"y": 68,
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"theta": 0
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}
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},
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{
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"definition": "defs/bumper.json",
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"style": { "fill": "red", "stroke": "none" },
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"position": {
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"x": 145,
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"y": 68,
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"theta": 0
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}
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},
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{
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"definition": "defs/ghost.json",
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"style": { "fill": "lightgreen", "stroke": "black" },
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"position": {
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"x": 0,
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"y": 80,
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"theta": 0
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}
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}
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],
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"statics": [
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{
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"style": { "fill": "gray", "stroke": "none" },
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"shape": [
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{ "x": -350, "y": -200 },
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{ "x": -350, "y": 200 },
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{ "x": -340, "y": 200 },
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{ "x": -340, "y": -200 }
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]
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},
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{
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"style": { "fill": "gray", "stroke": "none" },
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"shape": [
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{ "x": 350, "y": -200 },
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{ "x": 350, "y": 200 },
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{ "x": 340, "y": 200 },
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{ "x": 340, "y": -200 }
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]
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},
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{
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"style": { "fill": "gray", "stroke": "none" },
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"shape": [
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{ "x": -350, "y": 200 },
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{ "x": 350, "y": 200 },
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{ "x": 350, "y": 190 },
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{ "x": -350, "y": 190 }
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]
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},
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{
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"style": { "fill": "gray", "stroke": "none" },
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"shape": [
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{ "x": -350, "y": -200 },
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{ "x": 350, "y": -200 },
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{ "x": 350, "y": -190 },
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{ "x": -350, "y": -190 }
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]
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},
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{
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"style": { "fill": "gray", "stroke": "none" },
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"shape": [
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{ "x": -350, "y": 125 },
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{ "x": -250, "y": 125 },
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{ "x": -250, "y": 115 },
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{ "x": -350, "y": 115 }
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]
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},
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{
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"style": { "fill": "gray", "stroke": "none" },
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"shape": [
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{ "x": -150, "y": 90 },
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{ "x": 150, "y": 90 },
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{ "x": 150, "y": 80 },
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{ "x": -150, "y": 80 }
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]
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},
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{
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"style": { "fill": "gray", "stroke": "none" },
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"shape": [
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{ "x": 350, "y": 55 },
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{ "x": 250, "y": 55 },
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{ "x": 250, "y": 45 },
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{ "x": 350, "y": 45 }
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]
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}
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]
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}

‎examples/platformer/defs/README.md‎

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Put agent definitions in this folder.

‎examples/platformer/defs/bumper.json‎

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{
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"name": "Bumper",
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"type": "static",
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"description": "Replace this string with a description",
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"shape": [
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{ "x": -5, "y": 10 },
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{ "x": 5, "y": 10 },
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{ "x": 5, "y": -10 },
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{ "x": -5, "y": -10 }
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],
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"friction": {
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"collision": 5,
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"linear": 40,
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"rotational": 600
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},
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"sensors": [],
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"mass": 1,
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"controller": "lib/bumper.so"
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}

‎examples/platformer/defs/ghost.json‎

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{
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"name": "Ghost",
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"type": "dynamic",
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"description": "Replace this string with a description",
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"shape": [
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{ "x": -10, "y": 15 },
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{ "x": 10, "y": 15 },
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{ "x": 10, "y": -15 },
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{ "x": 0, "y": -17 },
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{ "x": -10, "y": -15 }
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],
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"friction": {
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"collision": 5,
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"linear": 40,
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"rotational": 600
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},
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"sensors": [],
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"mass": 1,
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"controller": "lib/ghost.so"
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}

‎examples/platformer/defs/guy.json‎

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{
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"name": "Guy",
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"type": "dynamic",
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"description": "Replace this string with a description",
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"shape": [
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{ "x": -10, "y": 15 },
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{ "x": 10, "y": 15 },
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{ "x": 10, "y": -15 },
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{ "x": -10, "y": -15 }
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],
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"friction": {
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"collision": 0,
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"linear": 0,
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"rotational": 0
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},
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"sensors": [
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{
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"type": "range",
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"location": { "x": 10, "y": 15 },
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"direction": 1.57
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},
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{
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"type": "range",
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"location": { "x": -10, "y": 15 },
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"direction": 1.57
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}
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],
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"mass": 1,
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"controller": "lib/guy.so"
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}

‎examples/platformer/lib/README.md‎

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Shared object libraries will be place here by make.

‎examples/platformer/src/Makefile‎

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#Architecture
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ARCH := $(shell uname -m)
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#Compilers
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CC := g++ -std=c++17 -Wno-psabi
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#The Target Library
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#The Directories, Source, Includes, Objects, Binary and Resources
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SRCEXT := cc
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# Directories
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CHIPDIR := /usr/local/src/Chipmunk2D
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ENVIRODIR := ../../../server/include
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#Flags, Libraries and Includes
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CFLAGS := -ggdb -shared -fPIC
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INCLUDE := -I $(ENVIRODIR) -I $(CHIPDIR)/include/chipmunk
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#Files
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TARGETDIR := ../lib
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SOURCES := $(wildcard *.cc)
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HEADERS := $(wildcard *.h)
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TARGETS := $(patsubst %.cc,%.so,$(wildcard *.cc))
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FULL_TARGETS := $(addprefix $(TARGETDIR)/, $(TARGETS))
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#Default Make
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all: $(FULL_TARGETS)
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#Clean only Objects
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clean:
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@$(RM) -rf $(TARGETDIR)/*.so
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# Compile
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$(TARGETDIR)/%.so: %.cc %.h
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$(CC) $(CFLAGS) $(INCLUDE) $< -o $@
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‎examples/platformer/src/bumper.cc‎

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#include <iostream>
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#include "bumper.h"
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using namespace enviro;
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// Put your implementations here

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