Demo.h

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#ifndef DEMO_H_
#define DEMO_H_
#include "Box2D/Box2D.h"
#include "SFML/Graphics.hpp"
#include "SFML/Window.hpp"
#include <iostream>
#include "Robot.h"
#include "RobotController.h"
#include "Vterrain.h"
#include "V2BLTerrain.h"
#include "Ramp.h"
#include "VStepper.h"
#include <iostream>
#include <fstream>
#include "Config.h"

#include <random>
#include "BoxTerrain.h"

class MyContactListener_v2 : public b2ContactListener
{
public:
    MyContactListener_v2(RobotController& robotController):m_robotController(&robotController){};

    void BeginContact(b2Contact* contact){
//      printf("contact \n");
        m_robotController->findContactRobots(contact);
    }
    void EndContact(b2Contact* contact) {
    }

private:
    RobotController* m_robotController;
};

class Demo {
public:
    Demo(b2World* m_world, config::sConfig cfg);
    virtual ~Demo();

    bool addRobotWithDelay();
    bool addRobotWithDistance();

    void createBridgeFile();

    void demoLoop();

    double getBridgeHeight();

    RobotController getController();

    double getNewPathLength();

    sf::RenderWindow* getWindow();

    void init();

    void takeScreenshot(bool draw, int step);

    void writeResultFile();

    void writeBridgeFile();

private:
    sf::RenderWindow window; //SFML window used to display the simulation
//  b2Vec2 m_gravity = b2Vec2(0.f, 0.f);
    RobotController m_robotController; //Robot controller containing the vector of the robots
    double m_to_px; //Scale to do the conversion from real dimensions (m) to simulated ones (pixels). Usually obtained from the terrain
    BoxTerrain m_terrain; //Terrain used to do the simulation, the object can be changed to either: Terrain, BoxTerrain, Vterrain, V2BLTerrain, VStepper
    MyContactListener_v2* myContactListener; //Contact listener
    double m_it = 0; //Iteration counter used to create the robots with a given delay between them
    int m_nbRobots = 0; //Number of robots created
    double m_elapsedTime = 0; // in seconds (real-time =/= from simulation time)
    double m_elapsedTimeDissolution = 0; //Duration of the dissolution phase (s)
    double m_elapsedTimeBridge = 0; //Duration of the bridge formation phase (s)
    double m_length = 0; // Bridge length (Body length)
    double m_height = 0; // Bridge height (Body length)
    int m_currentIt = 0; // Current iteration
    int m_nbRobotsInBridge = 0; // Number of robots involved in the bridge structure, ie the ones in bridge state + the ones stuck under the structure
    int m_nbRobotsInBridgeState = 0; // Number of robots in the bridge state

    bool m_stacking = false; //Flag to indicate that the robots are stacking
    bool m_stableBridge = false; //Flag to indicate that a stable bridge has been reached

    b2Vec2 m_startP; //Start point of the bridge (on the left side of the obstacle
    b2Vec2 m_endP; //End point of the bridge (on the left side of the obstacle

    config::sConfig m_config ; //Configuration parameters (cf Config.h file)

//    sf::Texture m_tex;

    std::ofstream m_logFile; //Overall result file
    std::ofstream m_bridgeFile; //Bridge file that describe the bridge formation

    // random device class instance, source of 'true' randomness for initializing random seed
    std::random_device m_rd;
    // Mersenne twister PRNG, initialized with seed from previous random device instance
    std::mt19937 m_gen;
    double m_seed;
    double m_std_dev=0.25; //0.25
    //  std::default_random_engine gen;
    std::normal_distribution<double> m_gauss_delay;

protected:
    b2World* m_world = nullptr; // pointer on the Box2D world
};


#endif /* DEMO_H_ */