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Next: 14 探索プログラムの実現 Up: 13 シミュレーション例 Previous: 13.4 シミュレーションの例(1)

13.5 シミュレーションの例(2)

シミュレーション(1)を衝突チェックまでいれた形で拡張した例を示します. 各時間単位の繰り返しごとに,衝突しているかどうかを確かめる部分が追加さ れたものが create-universe2 です.

(defun create-universe2 (&optional (cnt 4))
  (let
      ((p1 (make-something 'particle 'p1 4 3 2 5))
       (p2 (make-something 'particle 'p2 0 0 0 1))
       (p3 (make-something 'particle 'p3 1 1 9 4))
       (r1 (make-something 'rocket 'r1 2 3 4 3))
       (r2 (make-something 'rocket 'r2 7 5 2 1))
       (r3 (make-something 'rocket 'r3 3 4 4 2)))
    (set-motor r1 '(2 1))
    (set-motor r2 '(7 6))
    (set-motor r3 '(2 3))
    (dotimes
        (i cnt)
      (format t "~%~%cnt=~s" i)
      (dolist (obj (list p1 p2 p3 r1 r2 r3))
        (status obj)
        (cond
         ((crashed? obj)
          (format t "~%      -> ~a has crashed"
                  (pname obj)))
         (t (new-position obj)
            (new-velocity obj)))))))
crashしたかどうかの判定は,すべてのパーティクル,ロケットに同じ メソッド crashed? を送ることで行なっています. crashed?のメソッドは,particleに定義されています. 実行結果は以下のようになります.

<cl> (create-universe2)
cnt=0
P1's Pos:(4 3) Vel:(2 5) Acc:(0 4)
P2's Pos:(0 0) Vel:(0 1) Acc:(0 4)
P3's Pos:(1 1) Vel:(9 4) Acc:(0 4)
R1's Pos:(2 3) Vel:(4 3) Acc:(2 5) Motor:(2 1)
R2's Pos:(7 5) Vel:(2 1) Acc:(7 10) Motor:(7 6)
R3's Pos:(3 4) Vel:(4 2) Acc:(2 7) Motor:(2 3)
cnt=1
P1's Pos:(6 8) Vel:(2 9) Acc:(0 4)
P2's Pos:(0 1) Vel:(0 5) Acc:(0 4)
P3's Pos:(10 5) Vel:(9 8) Acc:(0 4)
R1's Pos:(6 6) Vel:(6 8) Acc:(2 5) Motor:(2 1)
R2's Pos:(9 6) Vel:(9 11) Acc:(7 10) Motor:(7 6)
R3's Pos:(7 6) Vel:(6 9) Acc:(2 7) Motor:(2 3)
cnt=2
P1's Pos:(8 17) Vel:(2 13) Acc:(0 4)
P2's Pos:(0 6) Vel:(0 9) Acc:(0 4)
P3's Pos:(19 13) Vel:(9 12) Acc:(0 4)
R1's Pos:(12 14) Vel:(8 13) Acc:(2 5) Motor:(2 1)
R2's Pos:(18 17) Vel:(16 21) Acc:(7 10) Motor:(7 6)
R3's Pos:(13 15) Vel:(8 16) Acc:(2 7) Motor:(2 3)
cnt=3
P1's Pos:(10 30) Vel:(2 17) Acc:(0 4)
      -> P1 has crashed
P2's Pos:(0 15) Vel:(0 13) Acc:(0 4)
P3's Pos:(28 25) Vel:(9 16) Acc:(0 4)
R1's Pos:(20 27) Vel:(10 18) Acc:(2 5) Motor:(2 1)
      -> R1 has crashed
R2's Pos:(34 38) Vel:(23 31) Acc:(7 10) Motor:(7 6)
R3's Pos:(21 31) Vel:(10 23) Acc:(2 7) Motor:(2 3)
      -> R3 has crashed
NIL


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