define weapon in toml

simulator/conf.toml

@@ -1,14 +1,17 @@
 food_amount = 120
 red_count = 10
 blu_count = 10
-kill_radius = 140
+
-kill_self = false
+[weapon]
+kills_user = false
+model.type = "lazer"
+model.range = 120
 
 [red_policy]
 aggressive = true
 food = [1,0]
 kin = [-0.3,0.02]
-nonkin = [0.3,-0.02]
+nonkin = [0.3,0.02]
 none= [0.3, 0.01]
 
 [blu_policy]

simulator/src/main.rs

@@ -47,6 +47,7 @@ struct Robot {
     collider: Ball,
     team: Color,
     policy: Policy,
+    weapon: Weapon,
 }
 
 impl Mortal for Robot {
@@ -71,8 +72,8 @@ impl Mortal for Robot {
 }
 
 impl Robot {
-    fn new(pose: Pose, team: Color, policy: Policy) -> Self {
+    fn new(pose: Pose, team: Color, policy: Policy, weapon: Weapon) -> Self {
-        Self { pose, alive: AtomicBool::new(true), collider: Ball::new(BOT_RADIUS), team, policy}
+        Self { pose, alive: AtomicBool::new(true), collider: Ball::new(BOT_RADIUS), team, policy, weapon}
     }
 
     fn move_step(&mut self, forward_right: [f32;2]) {
@@ -108,13 +109,16 @@ impl Robot {
     }
 
     fn weapon<'a>(&self, peers: impl Iterator<Item = &'a dyn Mortal>) {
-        let weapon = Ball::new(KILL_RADIUS);
+        let (pose, weapon) = self.weapon.model.collider(&self);
 
         for peer in peers {
             let (p_p, p_c) = peer.collider();
 
-            if let Some(_) = contact(&self.pose, &weapon, p_p , p_c, 0.0).unwrap() {
+            if let Some(_) = contact(&pose, &*weapon, p_p , p_c, 0.0).unwrap() {
                 peer.kill();
+                if self.weapon.kills_user {
+                    self.kill(); // o7
+                }
             }
 
         }
@@ -189,6 +193,39 @@ struct Policy {
     none: [f32;2],
 }
 
+#[derive(Deserialize, Clone)]
+#[serde(rename_all="lowercase", tag="type")]
+enum WeaponType {
+    Ball { radius: f32 }, // radius
+    Lazer { range: f32 }, // range
+    /// Ball centered at end of detection range
+    ForwardBall {radius: f32}, // radius
+}
+
+impl WeaponType {
+    pub fn collider(&self, robot: &Robot) -> (Pose, Box<dyn Shape>) {
+        match self {
+            WeaponType::Ball{radius} => {
+                (robot.pose, Box::new(Ball::new(*radius)))
+            },
+            WeaponType::Lazer{range} => {
+                let end = robot.pose.translation + robot.ahead() * *range;
+                (Pose::identity(), 
+                 Box::new(Segment::new(robot.pose.translation, end)))
+            },
+            WeaponType::ForwardBall{radius} => {
+                (Pose::from_translation(robot.view_end()), Box::new(Ball::new(*radius)))
+            },
+        }
+    }
+}
+
+#[derive(Deserialize, Clone)]
+struct Weapon {
+    kills_user: bool,
+    model: WeaponType,
+}
+
 #[derive(Deserialize)]
 struct SimConfig {
     food_amount: usize,
@@ -196,8 +233,7 @@ struct SimConfig {
     red_policy: Policy,
     blu_count: usize,
     blu_policy: Policy,
-    kill_radius: f32,
+    weapon: Weapon,
-    kill_self: bool,
 }
 
 struct Simulation {
@@ -225,14 +261,14 @@ impl Simulation {
         for i in 0..config.blu_count {
             let rand_angle = angle.sample(&mut rng);
             let pose:Pose = Pose::from_parts(Vec2 { x: 100.0, y: i as f32*50.0 + 250.0}, Rot2::from_angle(rand_angle));
-            robots.push(Robot::new(pose, BLUE, config.blu_policy.clone()));
+            robots.push(Robot::new(pose, BLUE, config.blu_policy.clone(), config.weapon.clone()));
         }
 
         //red robots
         for i in 0..config.red_count {
             let rand_angle = angle.sample(&mut rng);
             let pose:Pose = Pose::from_parts(Vec2 { x: 1200.0, y: i as f32*50.0 + 250.0}, Rot2::from_angle(rand_angle));
-            robots.push(Robot::new(pose, RED, config.red_policy.clone()));
+            robots.push(Robot::new(pose, RED, config.red_policy.clone(), config.weapon.clone()));
         }
 
         let mut food = Vec::new();