bug fix for sensors with noninteractive and invisble agents

client/src/enviro.js

@@ -153,12 +153,12 @@ class Arena extends React.Component {
         target_x = origin_x - offset_x,
         target_y = origin_y - offset_y;
 
-    if ( this.dist(CX,CY, target_x, target_y ) > 35 ) {
+    if ( this.dist(CX,CY, target_x, target_y ) > 100 ) {
         CX = target_x;
         CY = target_y;
     } else {
-        CX += 0.2 * (origin_x - offset_x - CX);
-        CY += 0.2 * (origin_y - offset_y - CY);
+        CX += 0.075 * (origin_x - offset_x - CX);
+        CY += 0.075 * (origin_y - offset_y - CY);
     }
 
     let center = `scale(${zoom}) translate(${CX} ${CY})`;

examples/multiuser/defs/guy.json

@@ -26,7 +26,13 @@
       "linear": 40,
       "rotational": 600
     },
-    "sensors": [],
+    "sensors": [
+      {
+        "type": "range",
+        "location": { "x": 17, "y": 0 },
+        "direction": 0
+     }
+    ],
     "mass": 1,    
     "controller": "lib/guy.so"
 }

examples/spawner/Makefile

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

examples/spawner/config.json

@@ -0,0 +1,34 @@
+{
+
+    "name": "My Enviro Project",
+    "ip": "0.0.0.0",
+    "port": 8765,
+
+    "buttons": [],
+
+    "agents": [   
+        {
+            "definition": "defs/guy.json",
+            "style": { "fill": "azure", "stroke": "black" },
+            "position": { "x": 0, "y": -200, "theta": 0 }
+        }          
+    ],
+
+    "invisibles": [
+        {
+            "definition": "defs/coordinator.json",
+            "rendered": false
+        }   
+    ],    
+
+    "references": [
+        {
+            "definition": "defs/thing.json",
+            "style": { "fill": "azure", "stroke": "black" },
+            "position": { "x": 0, "y": 0, "theta": 0 }
+        }       
+    ],    
+
+    "statics": []
+
+}

examples/spawner/defs/README.md

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

examples/spawner/defs/coordinator.json

@@ -0,0 +1,6 @@
+{
+    "name": "Coordinator",
+    "type": "invisible",
+    "description": "Runs the whole show, but isn't rendered",  
+    "controller": "lib/coordinator.so"
+}

examples/spawner/defs/guy.json

@@ -0,0 +1,32 @@
+{
+    "name": "Guy",
+    "type": "dynamic",
+    "description": "A guy that users can move around the screen",
+    "shape": [
+      { "x": -10, "y": 10 },
+      { "x": 10, "y": 10 },
+      { "x": 10, "y": 2 },
+      { "x": 12, "y": 2 },
+      { "x": 12, "y": 6 },
+      { "x": 16, "y": 6 },
+      { "x": 16, "y": 4 },
+      { "x": 14, "y": 4 },
+      { "x": 14, "y": -4},
+      { "x": 16, "y": -4 },
+      { "x": 16, "y": -6 },
+      { "x": 12, "y": -6 },
+      { "x": 12, "y": -2 },
+      { "x": 10, "y": -2 },
+      { "x": 10, "y": -10 },
+      { "x": -10, "y": -10 },
+      { "x": -9, "y": 0 }
+    ],
+    "friction": {
+      "collision": 5,
+      "linear": 40,
+      "rotational": 600
+    },
+    "sensors": [],
+    "mass": 1,    
+    "controller": "lib/guy.so"
+}

examples/spawner/defs/thing.json

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

examples/spawner/lib/README.md

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

examples/spawner/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   := /usr/local/src/enviro/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/spawner/src/coordinator.cc

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

examples/spawner/src/coordinator.h

@@ -0,0 +1,37 @@
+#ifndef __COORDINATOR_AGENT__H
+#define __COORDINATOR_AGENT__H 
+
+#include "enviro.h"
+
+using namespace enviro;
+
+class CoordinatorController : public Process, public AgentInterface {
+
+    public:
+    CoordinatorController() : Process(), AgentInterface() {}
+
+    void init() {
+        for ( double x = -200; x <= 200; x += 50) {
+            for ( double y = 0; y <= 200; y += 50 ) {
+                add_agent("Thing", x, y, 0, { {"fill", "blue"}});
+            }
+        }
+    }
+    void start() {}
+    void update() {}
+    void stop() {}
+
+};
+
+class Coordinator : public Agent {
+    public:
+    Coordinator(json spec, World& world) : Agent(spec, world) {
+        add_process(c);
+    }
+    private:
+    CoordinatorController c;
+};
+
+DECLARE_INTERFACE(Coordinator)
+
+#endif

examples/spawner/src/guy.cc

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

examples/spawner/src/guy.h

@@ -0,0 +1,63 @@
+#ifndef __PLAYER_AGENT__H
+#define __PLAYER_AGENT__H 
+
+#include "enviro.h"
+
+using namespace enviro;
+
+class GuyController : public Process, public AgentInterface {
+
+    public:
+    GuyController() : Process(), AgentInterface(), v(0), omega(0) {}
+
+    void init() {
+        watch("keydown", [&](Event &e) {
+            auto k = e.value()["key"].get<std::string>();
+            if ( k == "w" ) {
+                  v = v_m;              
+            } else if ( k == "s" ) {
+                  v = -v_m;  
+            } else if ( k == "a" ) {
+                  omega = -omega_m;
+            } else if ( k == "d" ) {
+                  omega = omega_m;
+            } 
+        });        
+        watch("keyup", [&](Event &e) {
+            auto k = e.value()["key"].get<std::string>();
+            if ( k == "w" || k == "s" ) {
+                  v = 0;               
+            } else if ( k == "a" ) {
+                  omega = 0;
+            } else if ( k == "d" ) {
+                  omega = 0;
+            } 
+        });
+    }
+    void start() {}
+    void update() {
+        track_velocity(v,omega,10,400);
+        label(std::to_string((int) x()) + ", " + std::to_string((int)y()),20,20);
+        emit(Event("guy_position", { { "x", x()}, {"y", y() }}));
+    }
+    void stop() {}
+
+    double v, omega;
+    double const v_m = 30, omega_m = 1;
+    double const magnitude = 200;
+
+};
+
+class Guy : public Agent {
+    public:
+    Guy(json spec, World& world) : Agent(spec, world) {
+        add_process(c);
+    }
+    private:
+    GuyController c;
+
+};
+
+DECLARE_INTERFACE(Guy)
+
+#endif

examples/spawner/src/thing.cc

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

examples/spawner/src/thing.h

@@ -0,0 +1,40 @@
+#ifndef __THING_AGENT__H
+#define __THING_AGENT__H 
+
+#include "enviro.h"
+
+using namespace enviro;
+
+class ThingController : public Process, public AgentInterface {
+
+    public:
+    ThingController() : Process(), AgentInterface(), guy_x(0), guy_y(0) {}
+
+    void init() {
+        watch("guy_position", [&](Event& e) {
+            guy_x  = e.value()["x"];
+            guy_y  = e.value()["y"];
+        });
+    }
+    void start() {}
+    void update() {
+        omni_move_toward(guy_x, guy_y, 0.1);
+    }
+    void stop() {}
+
+    double guy_x, guy_y;
+
+};
+
+class Thing : public Agent {
+    public:
+    Thing(json spec, World& world) : Agent(spec, world) {
+        add_process(c);
+    }
+    private:
+    ThingController c;
+};
+
+DECLARE_INTERFACE(Thing)
+
+#endif