no rotation

README.md

@@ -215,6 +215,12 @@ This method returns the angular velocity of the agent in radians per second and
 > `int id()`<br>
 This method returns a unique id of the agent.
 
+> `void prevent_rotation()`<br>
+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.
+
+> `void allow_rotation()` <br>
+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.
+
 Motion Control for Oriented Agents
 ---
 

examples/platformer/Makefile

@@ -0,0 +1,10 @@
+TARGET := bin/enviro
+
+all: 
+	$(MAKE) -C src all
+
+clean:
+	$(MAKE) -C src clean
+
+
+

examples/platformer/config.json

@@ -0,0 +1,119 @@
+{
+
+    "name": "My Enviro Project",
+    "ip": "0.0.0.0",
+    "port": 8765,
+
+    "buttons": [],
+
+    "agents": [  
+        {
+            "definition": "defs/guy.json",
+            "style": { "fill": "lightblue", "stroke": "black" },
+            "position": {
+                "x": 0, 
+                "y": 135, 
+                "theta": 0
+            }
+        },
+        {
+            "definition": "defs/bumper.json",
+            "style": { "fill": "red", "stroke": "none" },
+            "position": {
+                "x": -145, 
+                "y": 68, 
+                "theta": 0
+            }
+        },
+        {
+            "definition": "defs/bumper.json",
+            "style": { "fill": "red", "stroke": "none" },
+            "position": {
+                "x": 145, 
+                "y": 68, 
+                "theta": 0
+            }
+        },
+        {
+            "definition": "defs/ghost.json",
+            "style": { "fill": "lightgreen", "stroke": "black" },
+            "position": {
+                "x": 0, 
+                "y": 80, 
+                "theta": 0
+            }
+        }
+
+    ],
+
+    "statics": [
+        {
+            "style": { "fill": "gray", "stroke": "none" },
+            "shape": [
+                { "x": -350, "y": -200 },
+                { "x": -350,  "y": 200 },
+                { "x": -340,  "y": 200 },
+                { "x": -340, "y": -200 }
+            ]
+        },
+        {
+            "style": { "fill": "gray", "stroke": "none" },
+            "shape": [
+                { "x": 350, "y": -200 },
+                { "x": 350,  "y": 200 },
+                { "x": 340,  "y": 200 },
+                { "x": 340, "y": -200 }
+            ]
+        },
+        {
+            "style": { "fill": "gray", "stroke": "none" },
+            "shape": [
+                { "x": -350, "y": 200 },
+                { "x": 350,  "y": 200 },
+                { "x": 350,  "y": 190 },
+                { "x": -350, "y": 190 }
+            ]
+        },
+        {
+            "style": { "fill": "gray", "stroke": "none" },
+            "shape": [
+                { "x": -350, "y": -200 },
+                { "x": 350,  "y": -200 },
+                { "x": 350,  "y": -190 },
+                { "x": -350, "y": -190 }
+            ]
+        },
+
+        {
+            "style": { "fill": "gray", "stroke": "none" },
+            "shape": [
+                { "x": -350, "y": 125 },
+                { "x": -250, "y": 125 },
+                { "x": -250, "y": 115 },
+                { "x": -350, "y": 115 }
+            ]
+        },
+
+        {
+            "style": { "fill": "gray", "stroke": "none" },
+            "shape": [
+                { "x": -150, "y": 90 },
+                { "x": 150, "y": 90 },
+                { "x": 150, "y": 80 },
+                { "x": -150, "y": 80 }
+            ]
+        },
+
+        {
+            "style": { "fill": "gray", "stroke": "none" },
+            "shape": [
+                { "x": 350, "y": 55 },
+                { "x": 250, "y": 55 },
+                { "x": 250, "y": 45 },
+                { "x": 350, "y": 45 }
+            ]
+        }       
+
+    ]
+
+}

examples/platformer/defs/README.md

@@ -0,0 +1 @@
+Put agent definitions in this folder. 

examples/platformer/defs/bumper.json

@@ -0,0 +1,19 @@
+{
+    "name": "Bumper",
+    "type": "static",
+    "description": "Replace this string with a description",
+    "shape": [
+        { "x": -5, "y": 10 },
+        { "x": 5, "y": 10 },
+        { "x": 5, "y": -10 },
+        { "x": -5, "y": -10 }
+    ],
+    "friction": {
+      "collision": 5,
+      "linear": 40,
+      "rotational": 600
+    },
+    "sensors": [],
+    "mass": 1,    
+    "controller": "lib/bumper.so"
+}

examples/platformer/defs/ghost.json

@@ -0,0 +1,21 @@
+{
+    "name": "Ghost",
+    "type": "dynamic",
+    "description": "Replace this string with a description",
+    "shape": [
+        { "x": -10, "y": 15 },
+        { "x": 10, "y": 15 },
+        { "x": 10, "y": -15 },
+        { "x": 0, "y": -17 },            
+        { "x": -10, "y": -15 }
+
+    ],
+    "friction": {
+      "collision": 5,
+      "linear": 40,
+      "rotational": 600
+    },
+    "sensors": [],
+    "mass": 1,    
+    "controller": "lib/ghost.so"
+}

examples/platformer/defs/guy.json

@@ -0,0 +1,30 @@
+{
+    "name": "Guy",
+    "type": "dynamic",
+    "description": "Replace this string with a description",
+    "shape": [
+        { "x": -10, "y": 15 },
+        { "x": 10, "y": 15 },
+        { "x": 10, "y": -15 },
+        { "x": -10, "y": -15 }
+    ],
+    "friction": {
+      "collision": 0,
+      "linear": 0,
+      "rotational": 0
+    },
+    "sensors": [
+      { 
+        "type": "range",
+        "location": { "x": 10, "y": 15 },
+        "direction": 1.57
+      },
+      { 
+        "type": "range",
+        "location": { "x": -10, "y": 15 },
+        "direction": 1.57
+      }            
+    ],
+    "mass": 1,    
+    "controller": "lib/guy.so"
+}

examples/platformer/lib/README.md

@@ -0,0 +1 @@
+Shared object libraries will be place here by make.

examples/platformer/src/Makefile

@@ -0,0 +1,38 @@
+#Architecture
+ARCH := $(shell uname -m)
+
+#Compilers
+CC          := g++ -std=c++17 -Wno-psabi
+
+#The Target Library
+
+#The Directories, Source, Includes, Objects, Binary and Resources
+SRCEXT      := cc
+
+# Directories
+CHIPDIR     := /usr/local/src/Chipmunk2D
+ENVIRODIR   := ../../../server/include
+
+#Flags, Libraries and Includes
+CFLAGS      := -ggdb  -shared -fPIC
+INCLUDE		:= -I $(ENVIRODIR) -I $(CHIPDIR)/include/chipmunk 
+
+#Files
+
+TARGETDIR	 := ../lib
+SOURCES      := $(wildcard *.cc)
+HEADERS      := $(wildcard *.h)
+TARGETS		 := $(patsubst %.cc,%.so,$(wildcard *.cc))
+FULL_TARGETS := $(addprefix $(TARGETDIR)/, $(TARGETS))
+
+#Default Make
+all: $(FULL_TARGETS)
+
+#Clean only Objects
+clean:
+	@$(RM) -rf $(TARGETDIR)/*.so
+
+# Compile
+$(TARGETDIR)/%.so: %.cc %.h
+	$(CC) $(CFLAGS) $(INCLUDE) $< -o $@
+

examples/platformer/src/bumper.cc

@@ -0,0 +1,6 @@
+#include <iostream>
+#include "bumper.h"
+
+using namespace enviro;
+
+// Put your implementations here

examples/platformer/src/bumper.h

@@ -0,0 +1,31 @@
+#ifndef __BUMPER_AGENT__H
+#define __BUMPER_AGENT__H 
+
+#include "enviro.h"
+
+using namespace enviro;
+
+class BumperController : public Process, public AgentInterface {
+
+    public:
+    BumperController() : Process(), AgentInterface() {}
+
+    void init() {}
+    void start() {}
+    void update() {}
+    void stop() {}
+
+};
+
+class Bumper : public Agent {
+    public:
+    Bumper(json spec, World& world) : Agent(spec, world) {
+        add_process(c);
+    }
+    private:
+    BumperController c;
+};
+
+DECLARE_INTERFACE(Bumper)
+
+#endif

examples/platformer/src/ghost.cc

@@ -0,0 +1,6 @@
+#include <iostream>
+#include "ghost.h"
+
+using namespace enviro;
+
+// Put your implementations here

examples/platformer/src/ghost.h

@@ -0,0 +1,54 @@
+#ifndef __GHOST_AGENT__H
+#define __GHOST_AGENT__H 
+
+#include "enviro.h"
+
+using namespace enviro;
+
+class GhostController : public Process, public AgentInterface {
+
+    public:
+    GhostController() : Process(), AgentInterface(), vx(20) {}
+
+    void init() {
+        prevent_rotation();
+        notice_collisions_with("Bumper", [&](Event &e) {
+            if ( counter == 0 ) {
+              vx = -vx;
+              counter = 10;
+            }
+        });    
+        decorate(R"(<g>
+            <circle cx=-5 cy=-3 r=2 style='fill:black'></circle>
+            <circle cx=5 cy=-3 r=2 style='fill:black'></circle></g>)");
+    }
+
+    void start() {}
+
+    void update() {
+        double fx = -30*(velocity().x-vx);
+        omni_apply_force(fx,0);
+        if ( counter > 0 ) {
+            counter--;
+        }
+    }
+
+    void stop() {}
+
+    double vx;
+    int counter;
+
+};
+
+class Ghost : public Agent {
+    public:
+    Ghost(json spec, World& world) : Agent(spec, world) {
+        add_process(c);
+    }
+    private:
+    GhostController c;
+};
+
+DECLARE_INTERFACE(Ghost)
+
+#endif

examples/platformer/src/guy.cc

@@ -0,0 +1,6 @@
+#include <iostream>
+#include "guy.h"
+
+using namespace enviro;
+
+// Put your implementations here