#716

Committed 20 Oct 2025 06:09PM UTC coverage: 78.302% (+0.4%) from 77.925%

Build # #716

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push

github

Committed by

srs-mate

Commit Message

refactor: correct doc for DifferentialKinematics

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/src/main/scala/io/github/srs/utils/SimulationDefaults.scala

package io.github.srs.utils

import java.awt.Color
import java.util.UUID

import scala.concurrent.duration.{ DurationInt, FiniteDuration }

import cats.effect.IO
import cats.effect.unsafe.implicits.global
import io.github.srs.model.entity.*
import io.github.srs.model.entity.dynamicentity.actuator.{ Actuator, Wheel as ActWheel }
import io.github.srs.model.entity.dynamicentity.agent.Agent
import io.github.srs.model.entity.dynamicentity.agent.reward.{ NoReward, RewardModel }
import io.github.srs.model.entity.dynamicentity.robot.Robot
import io.github.srs.model.entity.dynamicentity.robot.behavior.Policy
import io.github.srs.model.entity.dynamicentity.sensor.*
import io.github.srs.model.environment.Environment
import io.github.srs.model.illumination.LightMap
import io.github.srs.model.illumination.engine.SquidLibFovEngine
import io.github.srs.model.illumination.model.ScaleFactor

object SimulationDefaults:

  object Illumination:

    val GridThreshold = 10_000
    val LightThreshold = 2

    object Occlusion:
      val FullRotation: Double = 90.0
      val AlmostZero: Double = 1e-6

  object Behaviors:

    object Prioritized:
      val DangerDist: Double = 0.40
      val LightThreshold: Double = 0.05

    object Phototaxis:
      val Epsilon: Double = 1e-9
      val MinForwardBias: Double = 0.4
      val TurnGain: Double = 1.0

    object ObstacleAvoidance:
      val CruiseSpeed: Double = 0.35
      val WarnSpeed: Double = 0.15
      val WarnTurnSpeed: Double = 0.55
      val BackBoost: Double = 0.20
      val SafeDist: Double = 0.5
      val CriticalDist: Double = 0.35

    object RandomWalk:
      val MinForwardFactor: Double = 0.35
      val MaxForwardExtra: Double = 0.35
      val MinTurnOfBase: Double = 0.35
      val MaxTurnOfBase: Double = 1.15
      val TurnExponent: Double = 1.2
      val PivotBoostProb: Double = 0.20
      val PivotBoostAbs: Double = 0.15

  end Behaviors

  object UI:

    object SimulationViewConstants:
      val IdDisplayLength = 8
      val PositionDecimals = 2
      val OrientationDecimals = 1
      val DefaultRobotInfo = "Select a robot to view details"
      val StopConfirmMessage = "Are you sure you want to stop the simulation?\n\nClick Yes to stop, No to continue."
      val StopConfirmTitle = "Stop Simulation"

    object Colors:
      @inline private def rgb(r: Int, g: Int, b: Int) = new java.awt.Color(r, g, b)
      @inline private def rgba(r: Int, g: Int, b: Int, a: Int) = new java.awt.Color(r, g, b, a)
      def backgroundLight: Color = rgb(250, 250, 250)
      def backgroundMedium: Color = rgb(245, 245, 245)
      def border: Color = rgb(200, 200, 200)
      def text: Color = rgb(60, 60, 60)
      def obstacleGradientStart: Color = rgb(120, 120, 120)
      def obstacleGradientEnd: Color = rgb(80, 80, 80)
      def obstacleBorder: Color = rgb(60, 60, 60)
      def robotDefault: Color = rgb(100, 150, 255)
      def robotDefaultDark: Color = rgb(50, 100, 200)
      def robotDefaultBorder: Color = rgb(0, 50, 150)
      def robotSelected: Color = rgb(255, 100, 100)
      def robotSelectedDark: Color = rgb(200, 50, 50)
      def robotSelectedBorder: Color = rgb(150, 0, 0)
      def robotShadow: Color = rgba(0, 0, 0, 50)
      def lightCenter: Color = rgba(255, 255, 200, 200)
      def lightEdge: Color = rgba(255, 140, 0, 80)
      def buttonHover: Color = rgb(230, 230, 230)
      def buttonPressed: Color = rgb(220, 235, 250)
      def timeDisplay: Color = rgb(50, 50, 50)

    end Colors

    object Fonts:
      val FontSize = 12
      val TitleSize = 12

    object Spacing:
      val StandardPadding = 10
      val InnerPadding = 5
      val ComponentGap = 10

    object Dimensions:
      val ButtonWidth = 150
      val ButtonHeight = 30
      val RobotListWidth = 250
      val RobotListHeight = 300
      val InfoAreaRows = 6
      val InfoAreaColumns = 25

    object Strokes:
      val ObstacleStroke = 1.5f
      val RobotShadowStroke = 3f

    object Icons:
      val Play = "\u25B6"
      val Stop = "\u23F9"
      val Pause = "\u23F8"
  end UI

  val Duration: Option[Long] = None
  val Seed: Option[Long] = None
  val DebugMode = false
  val BinarySearchDurationThreshold: FiniteDuration = 1.microseconds

  /**
   * Alternative light map configurations for different use cases
   */
  object LightMapConfigs:

    /**
     * Default light map with caching enabled Uses scale factor 10 for a good balance of performance and precision
     */
    lazy val BaseLightMap: LightMap[IO] =
      LightMap
        .create[IO](ScaleFactor.default, SquidLibFovEngine)
        .unsafeRunSync()

    /**
     * High-precision light map for detailed rendering Uses scale factor 100 for maximum precision.
     *
     * @return
     *   A [[io.github.srs.model.illumination.LightMap]] configured for high precision, or the default light map if the
     *   scale factor is invalid.
     */
    def HPLightMap: LightMap[IO] =
      ScaleFactor
        .validate(80)
        .map { scale =>
          LightMap
            .create[IO](scale, SquidLibFovEngine)
            .unsafeRunSync()
        }
        .getOrElse(BaseLightMap)

    /**
     * Fast light map for real-time simulation Uses scale factor 5 for maximum performance.
     *
     * @return
     *   A [[io.github.srs.model.illumination.LightMap]] configured for fast computation, or the default light map if
     *   the scale factor is invalid.
     */
    def fastLightMap: LightMap[IO] =
      ScaleFactor
        .validate(10)
        .map { scale =>
          LightMap
            .create[IO](scale, SquidLibFovEngine)
            .unsafeRunSync()
        }
        .getOrElse(BaseLightMap)

    /**
     * Custom light map with specific scale factor Curried for better composition.
     *
     * @param scaleFactor
     *   The desired scale factor (cells per meter).
     * @return
     *   A [[io.github.srs.model.illumination.LightMap]] configured with the specified scale factor, or the default
     *   light map if the scale factor is invalid.
     */
    def withScale(scaleFactor: Int): LightMap[IO] =
      ScaleFactor
        .validate(scaleFactor)
        .map { scale =>
          LightMap
            .create[IO](scale, SquidLibFovEngine)
            .unsafeRunSync()
        }
        .getOrElse(BaseLightMap)

  end LightMapConfigs

  object SimulationConfig:
    val MaxCount = 10_000

  object Environment:
    val DefaultWidth: Int = 10
    val MinWidth: Int = 1
    val MaxWidth: Int = 500

    val DefaultHeight: Int = 10
    val MinHeight: Int = 1
    val MaxHeight: Int = 500

    val DefaultEntities: List[Entity] = List.empty
    val MaxEntities: Int = 50

  object StaticEntity:

    object Obstacle:
      val DefaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000000")
      val DefaultPosition: Point2D = (0.0, 0.0)
      val DefaultOrientation: Orientation = Orientation(0.0)
      val DefaultWidth: Double = 1.0
      val DefaultHeight: Double = 1.0

    object Light:
      val DefaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000001")
      val DefaultPosition: Point2D = (0.0, 0.0)
      val DefaultOrientation: Orientation = Orientation(0.0)
      val DefaultRadius: Double = 0.05
      val DefaultIlluminationRadius: Double = 1.0
      val DefaultIntensity: Double = 1.0
      val DefaultAttenuation: Double = 1.0

    object Boundary:
      val DefaultPosition: Point2D = (0.0, 0.0)
      val DefaultOrientation: Orientation = Orientation(0.0)
      val DefaultWidth: Double = 1.0
      val DefaultHeight: Double = 1.0

  end StaticEntity

  object DynamicEntity:
    val ZeroSpeed: Double = 0.0
    val MinSpeed: Double = -1.0
    val MaxSpeed: Double = 1.0
    val HalfSpeed: Double = 0.5

    object Actuator:

      object DifferentialWheelMotor:
        val DefaultWheel: ActWheel = ActWheel()

        object Wheel:
          val DefaultSpeed: Double = 1.0
          val DefaultShape: ShapeType.Circle = ShapeType.Circle(0.1)
          val MinSpeed: Double = -1.0
          val MaxSpeed: Double = 1.0

    object Sensor:

      object ProximitySensor:
        val DefaultOffset: Double = 0.0
        val DefaultRange: Double = 1.0

    object Agent:
      val DefaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000003")
      val DefaultPosition: Point2D = (0.0, 0.0)
      val DefaultShape: ShapeType.Circle = ShapeType.Circle(0.25)
      val DefaultOrientation: Orientation = Orientation(0.0)
      val DefaultActuators: Seq[Actuator[Agent]] = Seq.empty
      val DefaultSensors: Vector[Sensor[Agent, Environment]] = Vector.empty
      val MinRadius: Double = 0.01
      val MaxRadius: Double = 0.5
      val DefaultReward: RewardModel[Agent] = NoReward()

      val StdProximitySensors: Vector[Sensor[Agent, Environment]] = Vector(
        ProximitySensor(Orientation(0.0)),
        ProximitySensor(Orientation(45.0)),
        ProximitySensor(Orientation(90.0)),
        ProximitySensor(Orientation(135.0)),
        ProximitySensor(Orientation(180.0)),
        ProximitySensor(Orientation(225.0)),
        ProximitySensor(Orientation(270.0)),
        ProximitySensor(Orientation(315.0)),
      )

      val StdLightSensors: Vector[Sensor[Agent, Environment]] = Vector(
        LightSensor(Orientation(0.0)),
        LightSensor(Orientation(45.0)),
        LightSensor(Orientation(90.0)),
        LightSensor(Orientation(135.0)),
        LightSensor(Orientation(180.0)),
        LightSensor(Orientation(225.0)),
        LightSensor(Orientation(270.0)),
        LightSensor(Orientation(315.0)),
      )

    end Agent

    object Robot:

      val DefaultMaxRetries = 10

      val DefaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000002")
      val DefaultPosition: Point2D = (0.0, 0.0)
      val DefaultShape: ShapeType.Circle = ShapeType.Circle(0.25)
      val DefaultOrientation: Orientation = Orientation(0.0)
      val DefaultActuators: Seq[Actuator[Robot]] = Seq.empty
      val DefaultSensors: Vector[Sensor[Robot, Environment]] = Vector.empty
      val MinRadius: Double = 0.01
      val MaxRadius: Double = 0.5

      val SelectionStroke: Float = 3f
      val NormalStroke: Float = 1f
      val ArrowLengthFactor: Double = 0.6
      val ArrowWidthFactor: Double = 0.3
      val MinArrowWidth: Float = 2f

      val StdProximitySensors: Vector[Sensor[Robot, Environment]] = Vector(
        ProximitySensor(Orientation(0.0)),
        ProximitySensor(Orientation(45.0)),
        ProximitySensor(Orientation(90.0)),
        ProximitySensor(Orientation(135.0)),
        ProximitySensor(Orientation(180.0)),
        ProximitySensor(Orientation(225.0)),
        ProximitySensor(Orientation(270.0)),
        ProximitySensor(Orientation(315.0)),
      )

      val StdLightSensors: Vector[Sensor[Robot, Environment]] = Vector(
        LightSensor(Orientation(0.0)),
        LightSensor(Orientation(45.0)),
        LightSensor(Orientation(90.0)),
        LightSensor(Orientation(135.0)),
        LightSensor(Orientation(180.0)),
        LightSensor(Orientation(225.0)),
        LightSensor(Orientation(270.0)),
        LightSensor(Orientation(315.0)),
      )
      val DefaultPolicy: Policy = Policy.AlwaysForward
    end Robot
  end DynamicEntity

  object GridDSL:
    val ObstacleSize: Double = 0.999999
    val IncrementToCenterPos: Point2D = Point2D(0.5, 0.5)

  object Fields:

    object Simulation:
      val Self: String = "simulation"
      val Duration: String = "duration"
      val Seed: String = "seed"

    object Environment:
      val Self: String = "environment"
      val Width: String = "width"
      val Height: String = "height"
      val Entities: String = "entities"

    object Entity:
      val Id: String = "id"
      val Position: String = "position"
      val X: String = "x"
      val Y: String = "y"
      val Orientation: String = "orientation"

      object StaticEntity:

        object Obstacle:
          val Self: String = "obstacle"
          val Width: String = "width"
          val Height: String = "height"

        object Light:
          val Self: String = "light"
          val Radius: String = "radius"
          val IlluminationRadius: String = "illuminationRadius"
          val Intensity: String = "intensity"
          val Attenuation: String = "attenuation"

      object DynamicEntity:

        object Robot:
          val Self: String = "robot"
          val Radius: String = "radius"
          val Speed: String = "speed"
          val WithProximitySensors: String = "withProximitySensors"
          val WithLightSensors: String = "withLightSensors"
          val Behavior: String = "behavior"

        object Agent:
          val Self: String = "agent"
          val Radius: String = "radius"
          val Speed: String = "speed"
          val WithProximitySensors: String = "withProximitySensors"
          val WithLightSensors: String = "withLightSensors"
          val RewardModel: String = "rewardModel"

    end Entity
  end Fields

  object Layout:
    val SplitPaneWeight: Double = 0.8
    val SplitPaneLocation: Double = 0.8

  object Frame:
    val MinWidth = 800
    val MinHeight = 600
    val PrefWidth = 1200
    val PrefHeight = 720
    val SplitWeight = 0.8
    val CanvasBorder: Int = 2

  object Canvas:
    val BorderSize = 2
    val MinZoom = 0.2
    val MaxZoom = 5.0
    val ZoomInFactor = 1.2
    val ZoomOutFactor = 0.8
    val DesiredLabelPixels = 40.0
    val GridStrokeWidth = 1f
    val LabelDesiredPx: Double = 40.0
    val MinLightSize: Int = 12
    val LightStroke: Float = 2f
    val LabelBottomOffset: Int = 4
    val LabelYOffset: Int = 12
    val LabelXOffset: Int = 2

    val LabelStepSequence: List[Int] = List(1, 2, 5)
    val LabelScaleBase: Int = 10
    val DiameterFactor: Double = 2.0

    object Sensors:
      val LineStrokeWidth: Float = 1.0f
      val DotSize: Int = 3

    object LightFX:

      val GradientFraction0: Float = 0f
      val GradientFraction1: Float = 0.55f
      val GradientFraction2: Float = 0.9f
      val GradientFraction3: Float = 1f

      val CoreFractionStart: Float = 0f
      val CoreFractionEnd: Float = 1f

      val GradientRadiusDivisor: Float = 2f
      val MinLightPixels: Int = 1
      val PostGlowAlpha: Float = 0.015f

      val RingStrokeWidth: Float = 0.8f
      val RingStrokeMiterLimit: Float = 10f
      val RingStrokeDash1: Float = 4f
      val RingStrokeDash2: Float = 6f
      val RingStrokeDashPhase: Float = 0f

      val GradientColor: Array[Color] = Array(
        new Color(255, 200, 0, 28),
        new Color(255, 180, 0, 16),
        new Color(255, 160, 0, 6),
        new Color(255, 140, 0, 0),
      )

    end LightFX

    object Arrow:
      val TriangleVertices: Int = 3

    object RobotBody:
      val GradientFractionStart: Float = 0f
      val GradientFractionEnd: Float = 1f

  end Canvas

  object ControlsPanel:
    val StartStopButtonText: String = "Start/Stop"

end SimulationDefaults

1	package io.github.srs.utils
2
3	import java.awt.Color
4	import java.util.UUID
5
6	import scala.concurrent.duration.{ DurationInt, FiniteDuration }
7
8	import cats.effect.IO
9	import cats.effect.unsafe.implicits.global
10	import io.github.srs.model.entity.*
11	import io.github.srs.model.entity.dynamicentity.actuator.{ Actuator, Wheel as ActWheel }
12	import io.github.srs.model.entity.dynamicentity.agent.Agent
13	import io.github.srs.model.entity.dynamicentity.agent.reward.{ NoReward, RewardModel }
14	import io.github.srs.model.entity.dynamicentity.robot.Robot
15	import io.github.srs.model.entity.dynamicentity.robot.behavior.Policy
16	import io.github.srs.model.entity.dynamicentity.sensor.*
17	import io.github.srs.model.environment.Environment
18	import io.github.srs.model.illumination.LightMap
19	import io.github.srs.model.illumination.engine.SquidLibFovEngine
20	import io.github.srs.model.illumination.model.ScaleFactor
21
22	object SimulationDefaults:
23		×
24	object Illumination:
25		3✔
26	val GridThreshold = 10_000
27	val LightThreshold = 2	8✔
28		5✔
29	object Occlusion:
30	val FullRotation: Double = 90.0	3✔
31	val AlmostZero: Double = 1e-6	8✔
32		5✔
33	object Behaviors:
34		×
35	object Prioritized:
36	val DangerDist: Double = 0.40	3✔
37	val LightThreshold: Double = 0.05	8✔
38		5✔
39	object Phototaxis:
40	val Epsilon: Double = 1e-9	3✔
41	val MinForwardBias: Double = 0.4	8✔
42	val TurnGain: Double = 1.0	4✔
43		5✔
44	object ObstacleAvoidance:
45	val CruiseSpeed: Double = 0.35	3✔
46	val WarnSpeed: Double = 0.15	8✔
47	val WarnTurnSpeed: Double = 0.55	4✔
48	val BackBoost: Double = 0.20	4✔
49	val SafeDist: Double = 0.5	4✔
50	val CriticalDist: Double = 0.35	4✔
51		5✔
52	object RandomWalk:
53	val MinForwardFactor: Double = 0.35	3✔
54	val MaxForwardExtra: Double = 0.35	8✔
55	val MinTurnOfBase: Double = 0.35	4✔
56	val MaxTurnOfBase: Double = 1.15	4✔
57	val TurnExponent: Double = 1.2	4✔
58	val PivotBoostProb: Double = 0.20	4✔
59	val PivotBoostAbs: Double = 0.15	4✔
60		5✔
61	end Behaviors
62
63	object UI:
64		×
65	object SimulationViewConstants:
66	val IdDisplayLength = 8	×
67	val PositionDecimals = 2	×
68	val OrientationDecimals = 1	×
69	val DefaultRobotInfo = "Select a robot to view details"	×
70	val StopConfirmMessage = "Are you sure you want to stop the simulation?\n\nClick Yes to stop, No to continue."	×
71	val StopConfirmTitle = "Stop Simulation"	×
72		×
73	object Colors:
74	@inline private def rgb(r: Int, g: Int, b: Int) = new java.awt.Color(r, g, b)	×
75	@inline private def rgba(r: Int, g: Int, b: Int, a: Int) = new java.awt.Color(r, g, b, a)	×
76	def backgroundLight: Color = rgb(250, 250, 250)	×
77	def backgroundMedium: Color = rgb(245, 245, 245)	×
78	def border: Color = rgb(200, 200, 200)	×
79	def text: Color = rgb(60, 60, 60)	×
80	def obstacleGradientStart: Color = rgb(120, 120, 120)	×
81	def obstacleGradientEnd: Color = rgb(80, 80, 80)	×
82	def obstacleBorder: Color = rgb(60, 60, 60)	×
83	def robotDefault: Color = rgb(100, 150, 255)	×
84	def robotDefaultDark: Color = rgb(50, 100, 200)	×
85	def robotDefaultBorder: Color = rgb(0, 50, 150)	×
86	def robotSelected: Color = rgb(255, 100, 100)	×
87	def robotSelectedDark: Color = rgb(200, 50, 50)	×
88	def robotSelectedBorder: Color = rgb(150, 0, 0)	×
89	def robotShadow: Color = rgba(0, 0, 0, 50)	×
90	def lightCenter: Color = rgba(255, 255, 200, 200)	×
91	def lightEdge: Color = rgba(255, 140, 0, 80)	×
92	def buttonHover: Color = rgb(230, 230, 230)	×
93	def buttonPressed: Color = rgb(220, 235, 250)	×
94	def timeDisplay: Color = rgb(50, 50, 50)	×
95		×
96	end Colors
97
98	object Fonts:
99	val FontSize = 12	×
100	val TitleSize = 12	×
101		×
102	object Spacing:
103	val StandardPadding = 10	×
104	val InnerPadding = 5	×
105	val ComponentGap = 10	×
106		×
107	object Dimensions:
108	val ButtonWidth = 150	×
109	val ButtonHeight = 30	×
110	val RobotListWidth = 250	×
111	val RobotListHeight = 300	×
112	val InfoAreaRows = 6	×
113	val InfoAreaColumns = 25	×
114		×
115	object Strokes:
116	val ObstacleStroke = 1.5f	×
117	val RobotShadowStroke = 3f	×
118		×
119	object Icons:
120	val Play = "\u25B6"	×
121	val Stop = "\u23F9"	×
122	val Pause = "\u23F8"	×
123	end UI	×
124
125	val Duration: Option[Long] = None
126	val Seed: Option[Long] = None	8✔
127	val DebugMode = false	4✔
128	val BinarySearchDurationThreshold: FiniteDuration = 1.microseconds	4✔
129		11✔
130	/**
131	* Alternative light map configurations for different use cases
132	*/
133	object LightMapConfigs:
134		3✔
135	/**
136	* Default light map with caching enabled Uses scale factor 10 for a good balance of performance and precision
137	*/
138	lazy val BaseLightMap: LightMap[IO] =
139	LightMap	11✔
140	.create[IO](ScaleFactor.default, SquidLibFovEngine)	27✔
141	.unsafeRunSync()	7✔
142		25✔
143	/**
144	* High-precision light map for detailed rendering Uses scale factor 100 for maximum precision.
145	*
146	* @return
147	* A [[io.github.srs.model.illumination.LightMap]] configured for high precision, or the default light map if the
148	* scale factor is invalid.
149	*/
150	def HPLightMap: LightMap[IO] =
151	ScaleFactor
152	.validate(80)	×
153	.map { scale =>	×
154	LightMap	×
155	.create[IO](scale, SquidLibFovEngine)
156	.unsafeRunSync()
157	}
158	.getOrElse(BaseLightMap)
159		×
160	/**
161	* Fast light map for real-time simulation Uses scale factor 5 for maximum performance.
162	*
163	* @return
164	* A [[io.github.srs.model.illumination.LightMap]] configured for fast computation, or the default light map if
165	* the scale factor is invalid.
166	*/
167	def fastLightMap: LightMap[IO] =
168	ScaleFactor
169	.validate(10)	×
170	.map { scale =>	×
171	LightMap	×
172	.create[IO](scale, SquidLibFovEngine)
173	.unsafeRunSync()
174	}
175	.getOrElse(BaseLightMap)
176		×
177	/**
178	* Custom light map with specific scale factor Curried for better composition.
179	*
180	* @param scaleFactor
181	* The desired scale factor (cells per meter).
182	* @return
183	* A [[io.github.srs.model.illumination.LightMap]] configured with the specified scale factor, or the default
184	* light map if the scale factor is invalid.
185	*/
186	def withScale(scaleFactor: Int): LightMap[IO] =
187	ScaleFactor
188	.validate(scaleFactor)	×
189	.map { scale =>	×
190	LightMap	×
191	.create[IO](scale, SquidLibFovEngine)
192	.unsafeRunSync()
193	}
194	.getOrElse(BaseLightMap)
195		×
196	end LightMapConfigs
197
198	object SimulationConfig:
199	val MaxCount = 10_000	×
200		×
201	object Environment:
202	val DefaultWidth: Int = 10	3✔
203	val MinWidth: Int = 1	8✔
204	val MaxWidth: Int = 500	4✔
205		4✔
206	val DefaultHeight: Int = 10
207	val MinHeight: Int = 1	4✔
208	val MaxHeight: Int = 500	4✔
209		4✔
210	val DefaultEntities: List[Entity] = List.empty
211	val MaxEntities: Int = 50	6✔
212		5✔
213	object StaticEntity:
214		×
215	object Obstacle:
216	val DefaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000000")	3✔
217	val DefaultPosition: Point2D = (0.0, 0.0)	9✔
218	val DefaultOrientation: Orientation = Orientation(0.0)	8✔
219	val DefaultWidth: Double = 1.0	6✔
220	val DefaultHeight: Double = 1.0	4✔
221		5✔
222	object Light:
223	val DefaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000001")	3✔
224	val DefaultPosition: Point2D = (0.0, 0.0)	9✔
225	val DefaultOrientation: Orientation = Orientation(0.0)	8✔
226	val DefaultRadius: Double = 0.05	6✔
227	val DefaultIlluminationRadius: Double = 1.0	4✔
228	val DefaultIntensity: Double = 1.0	4✔
229	val DefaultAttenuation: Double = 1.0	4✔
230		5✔
231	object Boundary:
232	val DefaultPosition: Point2D = (0.0, 0.0)	3✔
233	val DefaultOrientation: Orientation = Orientation(0.0)	12✔
234	val DefaultWidth: Double = 1.0	6✔
235	val DefaultHeight: Double = 1.0	4✔
236		5✔
237	end StaticEntity
238
239	object DynamicEntity:
240	val ZeroSpeed: Double = 0.0	3✔
241	val MinSpeed: Double = -1.0	8✔
242	val MaxSpeed: Double = 1.0	4✔
243	val HalfSpeed: Double = 0.5	4✔
244		5✔
245	object Actuator:
246		×
247	object DifferentialWheelMotor:
248	val DefaultWheel: ActWheel = ActWheel()	×
249		×
250	object Wheel:
251	val DefaultSpeed: Double = 1.0	3✔
252	val DefaultShape: ShapeType.Circle = ShapeType.Circle(0.1)	8✔
253	val MinSpeed: Double = -1.0	6✔
254	val MaxSpeed: Double = 1.0	4✔
255		5✔
256	object Sensor:
257		×
258	object ProximitySensor:
259	val DefaultOffset: Double = 0.0	3✔
260	val DefaultRange: Double = 1.0	8✔
261		5✔
262	object Agent:
263	val DefaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000003")	3✔
264	val DefaultPosition: Point2D = (0.0, 0.0)	7✔
265	val DefaultShape: ShapeType.Circle = ShapeType.Circle(0.25)	8✔
266	val DefaultOrientation: Orientation = Orientation(0.0)	6✔
267	val DefaultActuators: Seq[Actuator[Agent]] = Seq.empty	6✔
268	val DefaultSensors: Vector[Sensor[Agent, Environment]] = Vector.empty	7✔
269	val MinRadius: Double = 0.01	6✔
270	val MaxRadius: Double = 0.5	4✔
271	val DefaultReward: RewardModel[Agent] = NoReward()	4✔
272		5✔
273	val StdProximitySensors: Vector[Sensor[Agent, Environment]] = Vector(
274	ProximitySensor(Orientation(0.0)),	5✔
275	ProximitySensor(Orientation(45.0)),	15✔
276	ProximitySensor(Orientation(90.0)),	10✔
277	ProximitySensor(Orientation(135.0)),	10✔
278	ProximitySensor(Orientation(180.0)),	10✔
279	ProximitySensor(Orientation(225.0)),	10✔
280	ProximitySensor(Orientation(270.0)),	10✔
281	ProximitySensor(Orientation(315.0)),	10✔
282	)	11✔
283
284	val StdLightSensors: Vector[Sensor[Agent, Environment]] = Vector(
285	LightSensor(Orientation(0.0)),	6✔
286	LightSensor(Orientation(45.0)),	13✔
287	LightSensor(Orientation(90.0)),	8✔
288	LightSensor(Orientation(135.0)),	8✔
289	LightSensor(Orientation(180.0)),	8✔
290	LightSensor(Orientation(225.0)),	8✔
291	LightSensor(Orientation(270.0)),	8✔
292	LightSensor(Orientation(315.0)),	8✔
293	)	9✔
294
295	end Agent
296
297	object Robot:
298		3✔
299	val DefaultMaxRetries = 10
300		8✔
301	val DefaultId: UUID = UUID.fromString("00000000-0000-0000-0000-000000000002")
302	val DefaultPosition: Point2D = (0.0, 0.0)	5✔
303	val DefaultShape: ShapeType.Circle = ShapeType.Circle(0.25)	8✔
304	val DefaultOrientation: Orientation = Orientation(0.0)	6✔
305	val DefaultActuators: Seq[Actuator[Robot]] = Seq.empty	6✔
306	val DefaultSensors: Vector[Sensor[Robot, Environment]] = Vector.empty	7✔
307	val MinRadius: Double = 0.01	6✔
308	val MaxRadius: Double = 0.5	4✔
309		4✔
310	val SelectionStroke: Float = 3f
311	val NormalStroke: Float = 1f	2✔
312	val ArrowLengthFactor: Double = 0.6	2✔
313	val ArrowWidthFactor: Double = 0.3	2✔
314	val MinArrowWidth: Float = 2f	2✔
315		2✔
316	val StdProximitySensors: Vector[Sensor[Robot, Environment]] = Vector(
317	ProximitySensor(Orientation(0.0)),	5✔
318	ProximitySensor(Orientation(45.0)),	15✔
319	ProximitySensor(Orientation(90.0)),	10✔
320	ProximitySensor(Orientation(135.0)),	10✔
321	ProximitySensor(Orientation(180.0)),	10✔
322	ProximitySensor(Orientation(225.0)),	10✔
323	ProximitySensor(Orientation(270.0)),	10✔
324	ProximitySensor(Orientation(315.0)),	10✔
325	)	11✔
326
327	val StdLightSensors: Vector[Sensor[Robot, Environment]] = Vector(
328	LightSensor(Orientation(0.0)),	5✔
329	LightSensor(Orientation(45.0)),	13✔
330	LightSensor(Orientation(90.0)),	8✔
331	LightSensor(Orientation(135.0)),	8✔
332	LightSensor(Orientation(180.0)),	8✔
333	LightSensor(Orientation(225.0)),	8✔
334	LightSensor(Orientation(270.0)),	8✔
335	LightSensor(Orientation(315.0)),	8✔
336	)	9✔
337	val DefaultPolicy: Policy = Policy.AlwaysForward
338	end Robot	5✔
339	end DynamicEntity
340
341	object GridDSL:
342	val ObstacleSize: Double = 0.999999	3✔
343	val IncrementToCenterPos: Point2D = Point2D(0.5, 0.5)	8✔
344		8✔
345	object Fields:
346		×
347	object Simulation:
348	val Self: String = "simulation"	3✔
349	val Duration: String = "duration"	8✔
350	val Seed: String = "seed"	4✔
351		5✔
352	object Environment:
353	val Self: String = "environment"	3✔
354	val Width: String = "width"	8✔
355	val Height: String = "height"	4✔
356	val Entities: String = "entities"	4✔
357		5✔
358	object Entity:
359	val Id: String = "id"	3✔
360	val Position: String = "position"	8✔
361	val X: String = "x"	4✔
362	val Y: String = "y"	2✔
363	val Orientation: String = "orientation"	2✔
364		5✔
365	object StaticEntity:
366		×
367	object Obstacle:
368	val Self: String = "obstacle"	3✔
369	val Width: String = "width"	8✔
370	val Height: String = "height"	4✔
371		5✔
372	object Light:
373	val Self: String = "light"	3✔
374	val Radius: String = "radius"	8✔
375	val IlluminationRadius: String = "illuminationRadius"	4✔
376	val Intensity: String = "intensity"	4✔
377	val Attenuation: String = "attenuation"	4✔
378		5✔
379	object DynamicEntity:
380		×
381	object Robot:
382	val Self: String = "robot"	3✔
383	val Radius: String = "radius"	8✔
384	val Speed: String = "speed"	4✔
385	val WithProximitySensors: String = "withProximitySensors"	4✔
386	val WithLightSensors: String = "withLightSensors"	4✔
387	val Behavior: String = "behavior"	4✔
388		5✔
389	object Agent:
390	val Self: String = "agent"	3✔
391	val Radius: String = "radius"	8✔
392	val Speed: String = "speed"	2✔
393	val WithProximitySensors: String = "withProximitySensors"	2✔
394	val WithLightSensors: String = "withLightSensors"	2✔
395	val RewardModel: String = "rewardModel"	2✔
396		3✔
397	end Entity
398	end Fields
399
400	object Layout:
401	val SplitPaneWeight: Double = 0.8	×
402	val SplitPaneLocation: Double = 0.8	×
403		×
404	object Frame:
405	val MinWidth = 800	×
406	val MinHeight = 600	×
407	val PrefWidth = 1200	×
408	val PrefHeight = 720	×
409	val SplitWeight = 0.8	×
410	val CanvasBorder: Int = 2	×
411		×
412	object Canvas:
413	val BorderSize = 2	×
414	val MinZoom = 0.2	×
415	val MaxZoom = 5.0	×
416	val ZoomInFactor = 1.2	×
417	val ZoomOutFactor = 0.8	×
418	val DesiredLabelPixels = 40.0	×
419	val GridStrokeWidth = 1f	×
420	val LabelDesiredPx: Double = 40.0	×
421	val MinLightSize: Int = 12	×
422	val LightStroke: Float = 2f	×
423	val LabelBottomOffset: Int = 4	×
424	val LabelYOffset: Int = 12	×
425	val LabelXOffset: Int = 2	×
426		×
427	val LabelStepSequence: List[Int] = List(1, 2, 5)
428	val LabelScaleBase: Int = 10	×
429	val DiameterFactor: Double = 2.0	×
430		×
431	object Sensors:
432	val LineStrokeWidth: Float = 1.0f	×
433	val DotSize: Int = 3	×
434		×
435	object LightFX:
436		×
437	val GradientFraction0: Float = 0f
438	val GradientFraction1: Float = 0.55f	×
439	val GradientFraction2: Float = 0.9f	×
440	val GradientFraction3: Float = 1f	×
441		×
442	val CoreFractionStart: Float = 0f
443	val CoreFractionEnd: Float = 1f	×
444		×
445	val GradientRadiusDivisor: Float = 2f
446	val MinLightPixels: Int = 1	×
447	val PostGlowAlpha: Float = 0.015f	×
448		×
449	val RingStrokeWidth: Float = 0.8f
450	val RingStrokeMiterLimit: Float = 10f	×
451	val RingStrokeDash1: Float = 4f	×
452	val RingStrokeDash2: Float = 6f	×
453	val RingStrokeDashPhase: Float = 0f	×
454		×
455	val GradientColor: Array[Color] = Array(
456	new Color(255, 200, 0, 28),	×
457	new Color(255, 180, 0, 16),	×
458	new Color(255, 160, 0, 6),	×
459	new Color(255, 140, 0, 0),	×
460	)	×
461
462	end LightFX
463
464	object Arrow:
465	val TriangleVertices: Int = 3	×
466		×
467	object RobotBody:
468	val GradientFractionStart: Float = 0f	×
469	val GradientFractionEnd: Float = 1f	×
470		×
471	end Canvas
472
473	object ControlsPanel:
474	val StartStopButtonText: String = "Start/Stop"	×
475		×
476	end SimulationDefaults

Scala-Robotics-Simulator / PPS-22-srs / #716

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