/* * AttractorSim.java */package EDU.gatech.cc.is.simulation;import java.awt.*;import java.util.Random;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;/** * A simple attractor for simulation. * * <P> * Copyright (c)2000 by Tucker Balch * * @author Tucker Balch * @version $Revision: 1.3 $ */public class AttractorSim extends Object implements SimulatedObject	{	protected 	Vec2	position = new Vec2(0,0);	protected	Color	foreground = Color.red;	protected	Color	background = Color.red;	protected	SimulatedObject[] all_objects = new SimulatedObject[0];	protected	int	visionclass = 0;	protected	int	unique_id = 0;	protected	double	RADIUS = 0.1;	protected	double	top = 10;	protected	double	bottom = -10;	protected	double	left = -10;	protected	double	right = 10;	protected	boolean deposited = false;	protected	long seed = 0;	protected	Random rando = null;	public		static final boolean DEBUG = false;	/**	 * Instantiate an <B>AttractorSim</B> object.  Be sure	 * to also call Init with proper values.	 * @see AttractorSim#init	 */        public AttractorSim()		{		if (DEBUG) System.out.println("AttractorSim: instantiated.");		}	        /**         * Initialize an <B>AttractorSim</B> object.	 * Called automatically by JavaBotSim.	 * @param xp	the x coordinate.	 * @param yp	the y coordinate.	 * @param t	ingored.	 * @param r	the radius.	 * @param f	the foreground color.	 * @param b	the background color.	 * @param v	the vision class.	 * @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)		{		position = new Vec2(xp,yp);		RADIUS = r;		foreground = f;		background = b;		visionclass = v;		setID(i);		rando = new Random(s);		if (DEBUG) System.out.println("AttractorSim: initialized"			+" at "+xp+","+yp);		}	/**	 * Take a simulated step;	 */	public void takeStep(long time_increment, SimulatedObject[] all_objs)		{                /*--- keep pointer to the other objects ---*/                all_objects = all_objs;                // that's all that's really necessary		}		public boolean isObstacle()		{		return(false);		}		public boolean isPushable()		{		return(true);		}		public boolean isPickupable()		{		return(true);		}	public void receive(Message m)		{		// ignore messages.		}		public Vec2 getClosestPoint(Vec2 from)		{		// say we're far away if picked up		if (picked_up)			return(new Vec2(99999999,0));		else			// otherwise go from the center of the attractor.			{			Vec2 tmp = new Vec2(position.x, position.y);			tmp.sub(from);			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)	    {	    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 getPosition()		{		return(new Vec2(position.x, position.y));		}	public Vec2 getCenter(Vec2 from)		{		if (picked_up)			return(new Vec2(99999999,0));		else			{			Vec2 tmp = new Vec2(position.x, position.y);			tmp.sub(from);			return(tmp);			}		}	public void push(Vec2 d, Vec2 v)		{		/*--- move according to the push ---*/		position.add(d);		}	protected boolean picked_up = false;	public void pickUp(SimulatedObject o)		{		picked_up = true;		System.out.println("picked up");		}	public void putDown(Vec2 p)		{		picked_up = false;		deposited = true;		setVisionClass(-1); // make invisible		position = p;		System.out.println("put down");		}	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()		{		}        /**         * Draw the attractor's ID.         */        public void drawID(Graphics g, int w, int h,                double t, double b, double l, double r)		{		//skip for attractors		}        /**         * Draw the attractor's State.         */        public void drawState(Graphics g, int w, int h,                double t, double b, double l, double r)		{		//skip for attractors		}        /**         * Set the length of the trail (in movement steps).         * Non-robots can ignore this.          * @param l int, the length of the trail.         */        public void setTrailLength(int l)		{		//ignore		}        /**         * Clear the trail.         * Non-robots can ignore this.         */        public void clearTrail()		{		//ignore		}        /**         * Draw the attractor's Trail.         */        public void drawTrail(Graphics g, int w, int h,                double t, double b, double l, double r)		{		//skip for attractors		}	/**	 * Draw the attractor as an icon.	 * Default is just to do a regular draw.	 */	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);		}	/**	 * Draw the attractor.	 */	public void draw(Graphics g, int w, int h,		double t, double b, double l, double r)		{		top =t; bottom =b; left =l; right = r;				if(picked_up != true)			{			double meterspp = (r - l) / (double)w;			if (DEBUG) System.out.println("meterspp "+meterspp);			int radius = (int)(RADIUS / meterspp);			int xpix = (int)((position.x - l) / meterspp);			int ypix = (int)((double)h - ((position.y - b) / meterspp));			if (DEBUG) System.out.println("robot at"+				" at "+xpix+","+ypix);				/*--- draw the main body ---*/			g.setColor(foreground);			g.fillOval(xpix - radius, ypix - radius,				radius + radius, radius + radius);			}		}        /**         * Draw the object in a specific spot.         */        public void draw(Vec2 pos, Graphics g, int w, int h,                double t, double b, double l, double r)                {		boolean old_pu = picked_up;		picked_up = false;                Vec2 old_pos = position;                position = pos;                draw(g,w,h,t,b,l,r);                position = old_pos;		picked_up = old_pu;                }	}