util.java

2004年robotcup世界冠军源代码

// Copyright (C) 2002 Takeshi Morimoto <[e-mail]>
// All rights reserved.
// Edited By Omid Aghazadeh
package yab.agent;

import java.util.*;
import yab.agent.object.*;

//saeed 85-2-3
public class Util {
  public static final int distance(RealObject from, RealObject to) {
    float dx = to.x() - from.x();
    float dy = to.y() - from.y();
    return (int) Math.sqrt(dx * dx + dy * dy);
  }

  public static final int direction(RealObject from, RealObject to) {
    float dx = to.x() - from.x();
    float dy = to.y() - from.y();
    float theta = (float) Math.atan2( -dx, dy);
    if (theta < 0)
      theta += 2 * Math.PI;
    return (int) (theta * 360 * 60 * 60 / (2 * Math.PI));
  }

  public static String classBaseName(Object obj) {
    StringTokenizer st = new StringTokenizer(obj.getClass().getName(), ".");
    String token = null;
    while (st.hasMoreTokens())
      token = st.nextToken();
    return token;
  }

  public static int max(int x, int y) {
    return x >= y ? x : y;
  }

  public static int min(int x, int y) {
    return x <= y ? x : y;
  }

  public static Object randomChoice(Collection col, Random random) {
    if (col.isEmpty())throw new Error("the col must not be empty.");
    Iterator it = col.iterator();
    for (int i = random.nextInt(col.size()); i > 0; i--)
      it.next();
    return it.next();
  }

  //
  public static final int distance(int x1, int y1, int x2, int y2) {
    float dx = x1 - x2;
    float dy = y1 - y2;
    return (int) Math.sqrt(dx * dx + dy * dy);
  }

  public static final int direction(int x1, int y1, int x2, int y2) {
    float dx = x2 - x1;
    float dy = y2 - y1;
    float theta = (float) Math.atan2( -dx, dy);
    if (theta < 0)
      theta += 2 * Math.PI;
    return (int) (theta * 360 * 60 * 60 / (2 * Math.PI));
  }

    public static Comparator idComparator = new Comparator() {
		public int compare(Object o1, Object o2) {
			RCRObject r1 = (RCRObject) o1;
			RCRObject r2 = (RCRObject) o2;

			if (r1.id > r2.id)
				return 1;
			if (r1.id == r2.id)
				return 0;

			return -1;
		}
	};

    public static boolean Position(double x0, double y0, double ang, double tg, Wall edg)
    {
         double a = edg.x1;
         double b = edg.y1;
         double c = edg.x2;
         double d = edg.y2;

         if (ang == 0f || ang == Math.PI)
         {
            if (isBetween(a, x0, c))
            {
                if (a == c)
                {
                    edg.distance = Util.distance((int) x0, (int) y0, (int) a, (int) b);
                     if (a > x0)
                     {
                        edg.right = true;

                     }
                     else
                     {
                        edg.right = false;
                     }
               }
               else
               {
                edg.distance = Util.distance((int) x0, (int) y0, (int) x0,(int) ((b - d) * (x0 - c) / (a - c) +d));
                edg.right = false;
               }
           return true;
           }
           edg.distance = 0;
           return false;
         }
         else
         {
           if (a == c)
           {
             double y = tg * (a - x0) + y0;
             if (isBetween(b, y, d))
             {
               edg.distance = Util.distance((int) x0, (int) y0, (int) a,(int) y);
               if (a > x0)
               {
                 edg.right = true;
               }
               else
               {
                 edg.right = false;
               }
               return true;
             }
             edg.distance = 0;
             return false;
           }
           if (a * tg - c * tg + d - b == 0)
           {
             edg.distance = 0;
             return false;
           }
           double x = ( -b * c + d * a + c * y0 + a * tg * x0 - a * y0 - c * tg * x0)/ (a * tg - c * tg + d - b);
           if (isBetween(a, x, c))
           {
             if (a == c)
             {
               edg.distance = Util.distance((int) x0, (int) y0, (int) a,(int) b);
               if (a > x0)
               {
                 edg.right = true;
               }
               else
               {
                 edg.right = false;
               }
             }
             else
             {
               edg.distance = Util.distance((int) x0, (int) y0, (int) x,(int) ((b - d) * (x - c) / (a - c) + d));
               if (x > x0)
               {
                 edg.right = true;
               }
               else
               {
                 edg.right = false;
               }
             }
             return true;
           }
           edg.distance = 0;
           return false;
        }
     }

    public static boolean isBetween(double a, double x, double b)
     {
      if (a > b)
      {
        double k = a;
        a = b;
        b = k;
      }
      if (x >= a && x <= b)
      {
        return true;
      }
      return false;
    }
}