coforagecirclerangesim.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

/*
 * ObstacleInvisibleSim.java
 */

package EDU.gatech.cc.is.simulation;

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


/**
 * an invisible obstacle.
 * <P>
 * Copyright (c)2000 Tucker Balch
 *
 * @author Tucker Balch
 * @version $Revision: 1.2 $
 */

public class CoForageCircleRangeSim extends ObstacleSim
	{
	
	
	/**
	 *Get the closest point .
	 */
	public Vec2 getClosestPoint(Vec2 from)
		{
			
		Vec2 tmp = new Vec2(from.x, from.y);				
		tmp.setr(RADIUS-from.r);	
				
        Vec2 last = new Vec2(tmp.x, tmp.y);
        last.add(from);
        lastx = last.x;
        lasty = last.y;

		return(tmp);
		}	
	/**
     * Override draw objects's State. Make it do nothing
     */
    public void drawState(Graphics g, int w, int h,
           double t, double b, double l, double r)
        {
            // do nothing
        }	
	/**
	 *Draw the obstacle. Make it invisible.
	 */
	public void draw(Graphics g, int w, int h,
		double t, double b, double l, double r)
		{
			// do nothing
		}
	}