% Wall Maze Example % ------------------------- % % .. note:: % % Make sure you have Quanser Interactive Labs open before running this % example. This example is designed to be run in the Plane, Studio, % or Warehouse environments. % Define globals global North; global East; global South; global West; global Unexplored; global maze_data; global maze_x; global maze_y; load_qvl_path() % Do you want the walls to be able to fall over if hit? (Maze generation will take slightly longer.) dynamic_walls = false; % Maze size maze_x = 10; maze_y = 10; % Initialize constants and variables. We'll use a bit mask to efficiently store multiple % pieces of information inside a single value. North = 0b00001; East = 0b00010; South = 0b00100; West = 0b01000; Unexplored = 0b10000; maze_data = uint8(ones(maze_x,maze_y)) * 0b11111; % (bit-or of N, E, S, W, and unexplored) % Open communications qlabs = QuanserInteractiveLabs(); connection_established = qlabs.open('localhost'); if connection_established == false disp("Failed to open connection.") return end disp('Connected') % Remove any existing actors num_destroyed = qlabs.destroy_all_spawned_actors(); % Initialize an instance of a custom camera camera = QLabsFreeCamera(qlabs); camera.spawn([-0.337, 3.205, 4.895], [-0, 0.59, -1.091]); camera.possess(); % Initialize instances of walls wall = QLabsWalls(qlabs); generate_maze(); draw_maze(qlabs, dynamic_walls); % Closing qlabs qlabs.close(); disp('Done!'); function load_qvl_path() % -------------------------------------------------------------- % Setting MATLAB Path for the libraries % Always keep at the start, it will make sure it finds the correct references newPathEntry = fullfile(getenv('QAL_DIR'), '0_libraries', 'matlab', 'qvl'); pathCell = regexp(path, pathsep, 'split'); if ispc % Windows is not case-sensitive onPath = any(strcmpi(newPathEntry, pathCell)); else onPath = any(strcmp(newPathEntry, pathCell)); end if onPath == 0 path(path, newPathEntry) savepath end % -------------------------------------------------------------- end function generate_maze() global North; global East; global South; global West; global Unexplored; global maze_data; global maze_x; global maze_y; location = [1, 1]; % Mark the first cell as explored and remove the North wall as the entrance to the maze maze_data(1,1) = bitand(bitand(maze_data(1,1), bitcmp(Unexplored)), bitcmp(North)); % Start digging through the maze recursively remove_maze_wall(location); % Remove one wall on the South side of the maze maze_data(1,maze_y) = bitand(maze_data(1,maze_y), bitcmp(South)); end function remove_maze_wall(location) global North; global East; global South; global West; global Unexplored; global maze_data; global maze_x; global maze_y; % first pick a random direction (N, S, W, E) (The order helps reduce "easy" solutions to the maze) first_direction = randi([1 4]); % Check all four compass directions for a valid travel path for direction = 1:4 % Offset the direction count by the random direction current_direction = (direction + first_direction); if current_direction > 4 current_direction = current_direction - 4; end if (current_direction == 1) if ((location(2) > 1) && (bitand(maze_data(location(1), location(2)-1), Unexplored))) % Remove North wall from the current cell and the South wall of the new cell and mark the new cell as explored maze_data(location(1), location(2)-1) = bitand(maze_data(location(1), location(2)-1), bitcmp(Unexplored)); maze_data(location(1), location(2)-1) = bitand(maze_data(location(1), location(2)-1), bitcmp(South)); maze_data(location(1), location(2)) = bitand(maze_data(location(1), location(2)), bitcmp(North)); remove_maze_wall([location(1), location(2)-1]); end elseif (current_direction == 2) if ((location(2) < (maze_y)) && (bitand(maze_data(location(1), location(2)+1), Unexplored))) % Remove South wall from the current cell and the North wall of the new cell and mark the new cell as explored maze_data(location(1), location(2)+1) = bitand(maze_data(location(1), location(2)+1), bitcmp(Unexplored)); maze_data(location(1), location(2)+1) = bitand(maze_data(location(1), location(2)+1), bitcmp(North)); maze_data(location(1), location(2)) = bitand(maze_data(location(1), location(2)), bitcmp(South)); remove_maze_wall([location(1), location(2)+1]); end elseif (current_direction == 3) if ((location(1) > 1) && (bitand(maze_data(location(1)-1, location(2)), Unexplored))) % Remove West wall from the current cell and the East wall of the new cell and mark the new cell as explored maze_data(location(1)-1, location(2)) = bitand(maze_data(location(1)-1, location(2)), bitcmp(Unexplored)); maze_data(location(1)-1, location(2)) = bitand(maze_data(location(1)-1, location(2)), bitcmp(East)); maze_data(location(1), location(2)) = bitand(maze_data(location(1), location(2)), bitcmp(West)); remove_maze_wall([location(1)-1, location(2)]); end else if ((location(1) < (maze_x)) && (bitand(maze_data(location(1)+1, location(2)), Unexplored))) % Remove East wall from the current cell and the West wall of the new cell and mark the new cell as explored maze_data(location(1)+1, location(2)) = bitand(maze_data(location(1)+1, location(2)), bitcmp(Unexplored)); maze_data(location(1)+1, location(2)) = bitand(maze_data(location(1)+1, location(2)), bitcmp(West)); maze_data(location(1), location(2)) = bitand(maze_data(location(1), location(2)), bitcmp(East)); remove_maze_wall([location(1)+1, location(2)]); end end end end function draw_maze(qlabs, dynamic_walls) global North; global East; global South; global West; global maze_data; global maze_x; global maze_y; % Initialize a wall object wall = QLabsWalls(qlabs); % add just the first top row for count_x = 1:maze_x if (bitand(maze_data(count_x, 1), North)) place_wall(wall, count_x, 1, North, dynamic_walls); end end for count_y = 1:maze_y % left most wall of the maze if (bitand(maze_data(1, count_y), West)) place_wall(wall, 1, count_y, West, dynamic_walls); end % all the rest of the walls for count_x = 1:maze_x if (bitand(maze_data(count_x, count_y), South)) place_wall(wall, count_x, count_y, South, dynamic_walls); end if (bitand(maze_data(count_x, count_y), East)) place_wall(wall, count_x, count_y, East, dynamic_walls); end end if (~dynamic_walls) % If we're not waiting for any responses from QLabs, add % a slight delay after each row to ensure we don't overflow % the buffers for really large mazes. pause(0.01); end end end function place_wall(wall, x, y, direction, dynamic_walls) global North; global East; global South; global West; %#ok % You can tweak the global x/y offset of the maze generation here by entering a position in meters. offset = [0, 0]; % Length of a wall segment plus a bit of padding wall_length = 1.05; % Walls are static by default so we only need to wait for confirmation if the dynamic_walls flag is set. if direction == North wall.spawn_degrees([x*wall_length + offset(1), -(y*wall_length) + offset(2), 0.001], [0, 0, 90], [1,1,1], 0, dynamic_walls); elseif direction == East wall.spawn_degrees([x*wall_length + wall_length/2 + offset(1), -(y*wall_length + wall_length/2) + offset(2), 0.001], [0, 0, 0], [1,1,1], 0, dynamic_walls); elseif direction == South wall.spawn_degrees([x*wall_length + offset(1), -(y*wall_length + wall_length) + offset(2), 0.001], [0, 0, 90], [1,1,1], 0, dynamic_walls); else wall.spawn_degrees([x*wall_length-wall_length/2 + offset(1), -(y*wall_length + wall_length/2) + offset(2), 0.001], [0, 0, 0], [1,1,1], 0, dynamic_walls); end if (dynamic_walls) wall.set_enable_dynamics(dynamic_walls); end end