socsmallsim.java

一个多机器人的仿真平台

/*
 * SocSmallSim.java
 */

package EDU.gatech.cc.is.abstractrobot;

import java.awt.*;
import java.util.Enumeration;
import EDU.gatech.cc.is.util.Vec2;
import EDU.gatech.cc.is.util.CircularBuffer;
import EDU.gatech.cc.is.util.Units;
import EDU.gatech.cc.is.simulation.*;
import EDU.gatech.cc.is.communication.*;
import EDU.gatech.cc.is.util.*;

import EDU.cmu.cs.coral.util.Polygon2;
import EDU.cmu.cs.coral.util.Circle2;


/**
 * Implements SocSmall for simulation.
 * You should see the specifications in SocSmall for details on 
 * how to use these methods.
 * <P>
 * <P>
 * <A HREF="../COPYRIGHT.html">Copyright</A>
 * (c)1997, 1998 Tucker Balch
 *
 * @see SocSmall
 * @author Tucker Balch
 * @version $Revision: 1.4 $
 */

public class SocSmallSim extends Simple 
	implements SocSmall, SimulatedObject
	{
	private CircularBuffer	trail;		// the robot's trail
	private int[]		opponent_ids;	// pointers to opponents
	private KinSensorSim	kin_sensor;	// senses our kin
	private TransceiverSim	transceiver;	// communicates to robots
	private Vec2		position;	// location of the robot
	private GolfBallSim	theball;	// ball object 
	private Vec2		steer;		// robot heading
	private	double		speed;		// current speed
	private	Color		foreground, 	// colors for drawing
				background;
	private long		time;		// elapsed time
	private double		timed;		// double version of time
	private double		left, 		// used for drawing purposes
				right, 
				top, 
				bottom;
	private	SimulatedObject[] all_objects 	// to keep track of other
		= new SimulatedObject[0];	// objects in the simulation
	private	int		visionclass;	// how other robots see us
	
	public	static final boolean DEBUG = false;// set true for debug
						// messages

	private	boolean	on_east_team = false;	// which team we are on
	private	boolean	on_west_team = false;

	private	Vec2	kick_off_pos = new Vec2();// initial position 
						// for kick offs

	private	Vec2	receive_pos = new Vec2();// initial position when
						// not kicking off
	private	Vec2	team_goal;		// location of goal to defend
	private	Vec2	opponent_goal;		// location of other goal


	/**
	 * Instantiate a <B>SocSmallSim</B> object.  Be sure
	 * to also call init with proper values.
	 * @see SocSmallSim#init
	 */
        public SocSmallSim()
		{
		if (DEBUG) System.out.println("SocSmall: instantiated.");
		// defaults
		position = new Vec2(0,0);
		steer = new Vec2(1,0);
		foreground = Color.black;
		background = Color.black;
		top = 10;
		bottom = -10;
		left = -10;
		right = 10;
		}	


        /**
         * Initialize a <B>SocSmallSim</B> object.  Some of the parameters
	 * are ignored because soccer robots have specific starting
	 * places and headings.
	 * @param xp	if negative, it means this robot is on the west team,
	 *		east team otherwise.
	 * @param yp	ignored.
	 * @param tp	ignored.
	 * @param ignore ignored.
	 * @param f	color 1 for the robot.
	 * @param b	color 2 for the robot.
	 * @param v	vision class of the robot (usually 1 or 2 depending
	 *	 	on whether on west team or east team).
	 * @param i	unique simulation id (NOT the same as player number!).
         */
	public void init(double xp, double yp, double tp, double ignore,
		Color f, Color b, int v, int i, long s)
		{
		trail = new CircularBuffer(100);
		if (DEBUG) System.out.println("MultiForageN150Sim: initialized"
			+" at "+xp+","+yp);

		/*--- set global parameters ---*/
		setID(i);
		kin_sensor = new KinSensorSim(this);
		transceiver = new TransceiverSim(this, this);
		foreground = f;
		background = b;
		time = 0;
		timed = 0;
		visionclass = v;

		if (xp<0)
			// on the west team
			{
			on_west_team = true;
			on_east_team = false;
			team_goal = new Vec2(-1.37,0);
			opponent_goal = new Vec2(1.37,0);
			}
		else
			// on east team
			{
			on_west_team = false;
			on_east_team = true;
			team_goal = new Vec2(1.37,0);
			opponent_goal = new Vec2(-1.37,0);
			}
		int num = getID()%5;
		if (num == 0)
			{
			kick_off_pos = new Vec2(1.2,0);
			receive_pos  = new Vec2(1.2,0);
			}
		else if (num == 1)
			{
			kick_off_pos = new Vec2(0.5,0);
			receive_pos  = new Vec2(0.5,0.25);
			}
		else if (num == 2)
			{
			kick_off_pos = new Vec2(0.15,0.5);
			receive_pos  = new Vec2(0.15,0.5);
			}
		else if (num == 3)
			{
			kick_off_pos = new Vec2(0.15,0.0);
			receive_pos  = new Vec2(0.50,-0.25);
			}
		else if (num == 4)
			{
			kick_off_pos = new Vec2(0.15,-0.5);
			receive_pos  = new Vec2(0.15,-0.5);
			}
		if (on_west_team)
			// west team kicks off first
			{
			kick_off_pos.setx(-kick_off_pos.x);
			receive_pos.setx(-receive_pos.x);
			position = new Vec2(kick_off_pos.x, kick_off_pos.y);
			}
		else
			// east receives
			position = new Vec2(receive_pos.x, receive_pos.y);
		steer = getOpponentsGoal(-1);
		}


	/**
	 * Take a simulated step;
	 */
	public void takeStep(long time_increment, SimulatedObject[] all_objs)
		{
		if (DEBUG) System.out.println("SocSmallSim.TakeStep()");

		/*--- keep pointer to the other objects ---*/
		all_objects = all_objs;

		/*--- locate the ball, if we haven't already ---*/
		if (theball == null)
			{
			for (int i=0; i<all_objects.length; i++)
				// the ball is always vision class 3!
				if (all_objects[i].getVisionClass()==3)
					{
					theball = (GolfBallSim)all_objects[i];
					break;
					}
			if (theball == null) //still!
				System.out.println("SocSmallSim: there is "+
					"apparently no GolfBallSim object "+
					"declared in the decription file "+
					"or it's vision class is not 3. ");
			}

		/*--- update the time ---*/
		time += time_increment;
		double time_incd = ((double)time_increment)/1000;
		timed += time_incd;

		/*--- update the steering ---*/
		double sturn = Units.BestTurnRad(steer.t, desired_heading);
		if (Math.abs(sturn) > (MAX_STEER*time_incd))
			{
			if (sturn<0)
				sturn = -MAX_STEER*time_incd;
			else sturn = MAX_STEER*time_incd;
			}
		steer.sett(steer.t + sturn);

		/*--- compute velocity ---*/
		Vec2 velocity = new Vec2(steer.x, steer.y);
		velocity.setr(base_speed * desired_speed);

		/*--- compute a movement step ---*/
		Vec2 mvstep = new Vec2(velocity.x, velocity.y);
		mvstep.setr(mvstep.r * time_incd);

		/*--- test the new position to see if in bounds ---*/
		// use bounds of official RoboCup soccer field
		Vec2 pp = new Vec2(position.x, position.y);
		pp.add(mvstep);
		if ((pp.x+RADIUS > 1.37)||(pp.x-RADIUS < -1.37))
			{
			velocity.setx(0);
			mvstep.setx(0);
			}
		if ((pp.y+RADIUS > 0.7625)||(pp.y-RADIUS < -0.7625))
			{
			velocity.sety(0);
			mvstep.sety(0);
			}

		/*--- test the new position to see if on top of obstacle ---*/
		pp = new Vec2(position.x, position.y);
		boolean moveok = true;
		pp.add(mvstep);
		for (int i=0; i<all_objects.length; i++)
			{
			if (all_objects[i].isObstacle() && 
				(all_objects[i].getID() != unique_id))
				{
				Vec2 tmp = all_objects[i].getClosestPoint(pp);
				if (tmp.r < RADIUS)
					{
					moveok = false;
					break;
					}
				}
			}
		if (moveok) position.add(mvstep);

		/*--- test the new position to see if on top of pushable ---*/
		for (int i=0; i<all_objects.length; i++)
			{
			if (all_objects[i].isPushable() && 
				(all_objects[i].getID() != unique_id))
				{
				Vec2 tmp = all_objects[i].getClosestPoint(pp);
				if (tmp.r < RADIUS)
					{
					tmp.setr(RADIUS - tmp.r);
					Vec2 tmp2 = new Vec2(velocity);
					tmp2.sett(tmp.t);
					all_objects[i].push(tmp, tmp2);
					}
				}
			}

		/*--- finally, check to see if we need to reset position ---*/
		if (theball.playBall() != true)
			{
			trail.clear();
			if (on_east_team)
				{
				if (theball.eastKickOff())
					position = new Vec2(kick_off_pos.x, 
						kick_off_pos.y);
				else
					position = new Vec2(receive_pos.x, 
						receive_pos.y);
				}
			else if (theball.westKickOff())
				position = new Vec2(kick_off_pos.x, 
					kick_off_pos.y);
			else
				position = new Vec2(receive_pos.x, 
						receive_pos.y);
					
			steer = getOpponentsGoal(-1);
			}
		}

	public boolean isObstacle()
		{
		return(true);
		}
	
	public boolean isPushable()
		{
		return(false);
		}
	
	public boolean isPickupable()
		{
		return(false);
		}
	
	public Vec2 getClosestPoint(Vec2 from)
		{
		Vec2 tmp = new Vec2(position.x, position.y);
		tmp.sub(from);
		if (tmp.r < RADIUS)
			tmp.setr(0);
		else
			tmp.setr(tmp.r-RADIUS);
		return(tmp);
		}

        /**
	 * determine if the object is intersecting with a specified circle.
	 * This is useful for obstacle avoidance and so on.
	 * @param c the circle which may be intersecting the current object.
	 * @return true if collision detected.
         */
	public boolean checkCollision(Circle2 c)
	    {
	    Vec2 closest = getClosestPoint(c.centre); // closest is a vector with origin at centre that leads to closest point on current object
	    if (closest.r <= c.radius) // closest point is within c.radius of c.centre
			{
			return true;
			}
	    else 
			{
			return false;
			}
	    }

        /**
	 * determine if the object is intersecting with a specified polygon.
	 * This is useful for obstacle avoidance and so on.
	 * @param p the polygon which may be intersecting the current object.
	 * @return true if collision detected.
         */
	public boolean checkCollision(Polygon2 p)
		{
		Vec2 vertex1, vertex2, vec1, vector2, closestPt;
		int numberEdges = p.vertices.size(); // n edges if n vertices (as vertex n+1 wraps round to vertex 0)
		double scale;

		for (int i=0;i<numberEdges;i++)
			{
			vertex1 = (Vec2)p.vertices.elementAt(i);
			vertex2 = (Vec2)p.vertices.elementAt((i+1)%numberEdges);
			vertex1.sub(position);
			vertex2.sub(position);
			// if either vertex is within the circles radius you are colliding
			if ((vertex1.r < RADIUS) || (vertex2.r < RADIUS))
				{
				return true;
				} 
			vertex1.add(position);
			vertex2.add(position);
			vec1 = new Vec2(vertex2);
			vec1.sub(vertex1);
			vector2 = new Vec2(position);
			vector2.sub(vertex1);
			scale = ((vec1.x*vector2.x)+(vec1.y*vector2.y))/((vec1.x*vec1.x)+(vec1.y*vec1.y));
			closestPt = new Vec2(scale*vec1.x, scale*vec1.y);
			closestPt.add(vertex1); // absolute position of closest point
			closestPt.sub(position); // position of closest point relative to centre of current object
			if (closestPt.r < RADIUS)
				{
				// now need to check if closestPt lies between vertex1 and vertex2
				// i.e. it could lie on vector between them but outside of them
				if ( (scale > 0.0) && (scale < 1.0) )
					{
					return true;
					}
				}
			}
		return false; // closest point to object on each edge of polygon not within object			
		}



	public Vec2 getCenter(Vec2 from)
		{
		Vec2 tmp = new Vec2(position.x, position.y);
		tmp.sub(from);
		return(tmp);
		}

	public void push(Vec2 d, Vec2 v)
		{
		// sorry no pushee robots!
		}

	public void pickUp(SimulatedObject o)
		{
		// sorry no pickupee robots!
		}

	public void putDown(Vec2 p)
		{
		// sorry no put downee robots!
		}

	public void setVisionClass(int v)
		{
		visionclass = v;
		}

	public int getVisionClass()
		{
		return(visionclass);
		}

	  public Color getForegroundColor() { return foreground; }

	  public Color getBackgroundColor() { return background; }


        /**
         * Draw the robot in a specific spot.
         */
        public void draw(Vec2 pos, Graphics g, int w, int h,
                double t, double b, double l, double r)
                {
                Vec2 old_pos = position;
                position = pos;
                draw(g,w,h,t,b,l,r);
                position = old_pos;
                }


	private	Point last = new Point(0,0);
	/**
	 * Draw the robot's Trail.
	 */
	public void drawTrail(Graphics g, int w, int h,
		double t, double b, double l, double r)
		{
		top =t; bottom =b; left =l; right =r;
		if (DEBUG) System.out.println("draw "+
			w + " " +
			h + " " +
			t + " " +
			b + " " +
			l + " " +
			r + " ");
		double meterspp = (r - l) / (double)w;
		int xpix = (int)((position.x - l) / meterspp);
		int ypix = (int)((double)h - ((position.y - b) / meterspp));

		/*--- record the point ---*/
		Point p = new Point(xpix,ypix);
		if ((last.x!=xpix)||(last.y!=ypix))
			trail.put(p);
		last = p;

		/*--- get the list of all points ---*/
		Enumeration point_list = trail.elements();

		/*--- draw the trail ---*/
		g.setColor(background);
		Point from = (Point)point_list.nextElement();
		while (point_list.hasMoreElements())
			{
			Point next = (Point)point_list.nextElement();
			g.drawLine(from.x,from.y,next.x,next.y);
			from = next;
			}
		}


	private String display_string = "blank";
	/**
         * Set the String that is printed on the robot's display.
         * For simulated robots, this appears printed below the agent
         * when view "Robot State" is selected.
         * @param s String, the text to display.
         */
        public void setDisplayString(String s)
		{
		display_string = s;
		}