/* * SocFieldSmallSim.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 SocFieldSmallSim 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	RADIUS = 0.1;	protected	double	top = 10;	protected	double	bottom = -10;	protected	double	left = -10;	protected	double	right = 10;	protected	double	width = 500;//pixels	protected	double	height = 500;//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 SocFieldSmallSim()		{		if (DEBUG) System.out.println("SocFieldSmallSim: 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("SocFieldSmallSim: 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                }        /**         * Draw the objects's ID.         */        public void drawID(Graphics g, int w, int h,                double t, double b, double l, double r)                {                //skip for soccer fields                }        /**         * Draw the object 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);                }        /**         * 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 objects's Trail.         */        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)		{		top =t; bottom =b; left =l; right = r;		width =(double)w; height =(double)h;		meterspp  = (right - left) / width;		if (DEBUG) System.out.println("SocFieldSmallSim.draw: "+			top+" "+			bottom+" "+			left+" "+			right+" "+			width+" "+			height+" "+			meterspp);		if (DEBUG) System.out.println("SocFieldSmallSim.draw: "+			X(0)+ " "+			Y(0)+ " ");				g.setColor(Color.white);		// This is rather convoluted looking, but it is like that		// to ensure that the lines always match up		// Draw outer boundary		g.drawRect(X(-1.39),Y(.7825),size(2.78),size(1.565));		g.drawRect(X(-1.39)+1,Y(.7825)+1,size(2.78)-2,size(1.565)-2);		g.drawRect(X(-1.39)+2,Y(.7825)+2,size(2.78)-4,size(1.565)-4);		g.drawRect(X(-1.39)+3,Y(.7825)+3,size(2.78)-6,size(1.565)-6);			// Draw center line and center circle		g.drawLine(X(0),Y(0.7825),X(0),Y(-0.7825));		g.drawLine(X(0)+1,Y(0.7825),X(0)+1,Y(-0.7825));		g.drawOval(X(-0.150),Y(0.150),size(0.300),size(0.300));		g.drawOval(X(-0.150)-1,Y(0.150)-1,size(0.300)+2,size(0.300)+2);			// Draw defense zones		g.drawRect(X(-1.39),                        Y(.5),  				size(.225),  size(1));		g.drawRect(X(-1.39)+size(2.78)-size(.225),  Y(.5),				size(.225),  size(1));		g.drawRect(X(-1.39)+1,                      Y(.5)+1,  				size(.225)-2,  size(1)-2);		g.drawRect(X(-1.39)+size(2.78)-size(.225)+1,Y(.5)+1,				size(.225)-2,  size(1)-2);		// Draw corners		// lower left		g.drawLine(X(-1.37),Y(-.7325),X(-1.34),Y(-.7625));		g.drawLine(X(-1.37),Y(-.7325)-1,X(-1.34)+1,Y(-.7625));		// lower right		g.drawLine(X(1.37),Y(-.7325),X(1.34),Y(-.7625));		g.drawLine(X(1.37),Y(-.7325)-1,X(1.34)-1,Y(-.7625));		// upper right		g.drawLine(X(1.37),Y(.7325),X(1.34),Y(.7625));		g.drawLine(X(1.37),Y(.7325)+1,X(1.34)-1,Y(.7625));		// upper left		g.drawLine(X(-1.37),Y(.7325),X(-1.34),Y(.7625));		g.drawLine(X(-1.37),Y(.7325)+1,X(-1.34)+1,Y(.7625));		// Draw goals		g.setColor(Color.blue);		g.fillRect(X(-1.39)+4-size(0.1),Y(0.25),size(0.1),size(0.5));		g.fillRect(X(-1.39)+3+size(2.78)-6,Y(0.25),size(0.1),size(0.5));		}        /**         * Draw the soccer 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);                }	public static void main(String args[])		{		System.out.println((int)(-1.9)+" "+(int)(1.9));		}	}