coforagefieldsim.java

利用JAVA编写的群体机器人局部通讯完成一定得队形控制

/*
 * CoForageFieldSim.java
 */

package EDU.gatech.cc.is.simulation;

import java.awt.*;
import EDU.gatech.cc.is.util.Vec2;
import EDU.gatech.cc.is.util.Units;
import EDU.gatech.cc.is.communication.Message;

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



/**
 * Draw an official RoboCup soccer field.
 * <P>
 * Copyright (c)2000 Tucker Balch
 *
 * @author Tucker Balch
 * @version $Revision: 1.3 $
 */

public class CoForageFieldSim extends Object implements SimulatedObject
	{
	protected 	Vec2	position = new Vec2(0,0);
	protected	Color	foreground = Color.green;
	protected	SimulatedObject[] all_objects = new SimulatedObject[0];
	protected	int	visionclass = 0;
	protected	int	unique_id = 0;
	protected	double	homeRadius = 1.5;
	
	protected	double	workRadiusOne = 8;
	protected	double	workRadiusTwo = 18;
	
	protected	double	top = 20;
	protected	double	bottom = -20;
	protected	double	left = -20;
	protected	double	right = 20;
	protected	double	width = 660;//pixels
	protected	double	height = 660;//pixels
	protected	double	meterspp = (right-left)/width;
	public		static final boolean DEBUG = false;


	/**
	 * Instantiate a <B>SocFieldSmallSim</B> object.  Be sure
	 * to also call init with proper values.
	 * @see SocFieldSmallSim#init
	 */
    public CoForageFieldSim()
		{
		if (DEBUG) System.out.println("CoForageFieldSim: instantiated.");
		}	


    /**
     * Initialize an <B>SocFieldSmallSim</B> object.
	 * Called automatically by JavaBotSim.
	 * None of the arguments are used except unique id.
	 * @param xp	ignored.
	 * @param yp	ignored.
	 * @param t	ingored.
	 * @param r	ignored.
	 * @param f	ignored.
	 * @param b	ignored.
	 * @param v	vision class (should be 0 for invisible).
	 * @param i	the unique id.
	 * @param s	random number seed.
         */
	public void init(double xp, double yp, double t, double r,
		Color f, Color b, int v, int i, long s)
		{
		foreground = f;
		visionclass = v;
		setID(i);
		if (DEBUG) System.out.println("CoForageFieldSim: initialized");
		}


	/**
	 * Take a simulated step;
	 */
	public void takeStep(long time_increment, SimulatedObject[] all_objs)
		{
		// do nothink!
		}
	
	public boolean isObstacle()
		{
		return(false);
		}
	
	public boolean isPushable()
		{
		return(false);
		}
	
	public void receive(Message m)
		{
		// ignore messages.
		}
	
	public boolean isPickupable()
		{
		return(false);
		}
	
    public Vec2 getPosition()
        {
		// say we are far away to avoid interactions.
		return(new Vec2(99999999,0));
        }

	public Vec2 getClosestPoint(Vec2 from)
		{
		// say we are far away to avoid interactions.
		return(new Vec2(99999999,0));
		}

    /**
	 * 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)
	    {
	    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)
		{
		return false;		
		}

	public Vec2 getCenter(Vec2 from)
		{
		// say we are far away to avoid interactions.
		return(new Vec2(99999999,0));
		}

	public void push(Vec2 d, Vec2 v)
		{
		// ignore.
		}

	public void pickUp(SimulatedObject o)
		{
		// ignore.
		}

	public void putDown(Vec2 p)
		{
		// ignore.
		}

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

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

	public void setID(int i)
		{
		unique_id = i;
		}

	public int getID()
		{
		return(unique_id);
		}

	public void quit()
		{
		}


	/**
	 * Convert from size in meters to pixels.
	 */
	public	int	size(double m)
		{
		return((int)((m / meterspp)));
		}

	/**
	 * Convert y in field coordinates to Y in pixel coordinates.
	 */
	public	int	Y(double y)
		{
		return((int)(height-((y - bottom) / meterspp)));
		}

		
	/**
	 * Convert x in field coordinates to X in pixel coordinates.
	 */
	public	int	X(double x)
		{
		return((int)(((x - left) / meterspp)));
		}
		

    /**
     * Draw the objects's State.
     */
     public void drawState(Graphics g, int w, int h,
                double t, double b, double l, double r)
         {
         //skip for soccer fields
         }

     public void drawID(Graphics g, int w, int h,
                double t, double b, double l, double r)
          {
          //skip for soccer fields
          }
          
     public void drawIcon(Graphics g, int w, int h,
                double t, double b, double l, double r)
        {
          draw(g, w, h, t, b, l, r);
        }

     public void setTrailLength(int l)
		{
		//ignore
		}
     public void clearTrail()
		{
		//ignore
		}
     public void drawTrail(Graphics g, int w, int h,
                double t, double b, double l, double r)
    	{
        //skip for soccer fields
    	}


	/**
	 * Draw the field.
	 */
	public void draw(Graphics g, int w, int h,
		double t, double b, double l, double r)
		{		
			// draw the outer boundary	
			Color   border = new Color(0xB0C088);
			g.setColor(border);			
			g.fillOval(0,0,(int)width,(int)height);
			g.setColor(Color.white);
			g.fillOval(2,2,(int)(width-4),(int)(height-4));
			
			//draw the circle of workRadiusTwo.
			Color   puckArea = new Color(0xF0F0FF);
			g.setColor(puckArea);
			g.fillOval((int)((top-workRadiusTwo)/meterspp),
					   (int)((top-workRadiusTwo)/meterspp),
					   (int)(2*workRadiusTwo/meterspp),
					   (int)(2*workRadiusTwo/meterspp));
					   
		    //draw the circle of workRadiusOne.
			g.setColor(Color.white);
			g.fillOval((int)((top-workRadiusOne)/meterspp),
					   (int)((top-workRadiusOne)/meterspp),
					   (int)(2*workRadiusOne/meterspp),
					   (int)(2*workRadiusOne/meterspp));
					   
			//draw the circle of home.
			Color   home = new Color(0x7070BF);
			g.setColor(home);		
			g.fillOval((int)((top-homeRadius)/meterspp),
					   (int)((top-homeRadius)/meterspp),
					   (int)(2*homeRadius/meterspp),
					   (int)(2*homeRadius/meterspp));					
		
		}

   /**
    * Draw the field in a specific spot.
	* This doesn't really make sense for the soccer field, but
	* we need to handle it just in case someone calls it.
    */
    public void draw(Vec2 pos, Graphics g, int w, int h,
                double t, double b, double l, double r)
         {
         	draw(g,w,h,t,b,l,r);
         }
                  
	}