/* * GolfBallSim.java */package EDU.gatech.cc.is.simulation;import java.awt.*;import EDU.gatech.cc.is.util.Vec2;import EDU.gatech.cc.is.util.Units;/** * A golfball for RoboCup Soccer. * <B>Introduction</B><BR> * GolfBallSim implements a golf ball for RoboCup * soccer simulations.  The ball is also the scorekeeper and  * the referee; after all who would know better whether a  * scoring event occured? * <P> * A "shot clock" keeps track of how long since a scoring * event occured.  If it times-out, the ball is reset to the * center of the field. * <P> * Copyright (c)2000 Tucker Balch * * @author Tucker Balch * @version $Revision: 1.2 $ */public class GolfBallSim extends AttractorSim implements SimulatedObject,SocRef 	{	/*--- keep track of scoring events ---*/	private	int state = STATE_BEGIN; // this is so the west kicks off.	private	static final int STATE_BEGIN = 1;	private	static final int STATE_EAST_SCORE = 2;	private	static final int STATE_WEST_SCORE = 3;	private	static final int STATE_PLAY = 4;	private	int	eastscore = 0;	private	int	westscore = 0;	/*--- shot clock time ---*/	private	static final double TIMEOUT		= 60.0;	private	double	shotclock = TIMEOUT;	/*--- average distance recently moved ---*/	private	double	avg_dist  = 0;	private	Vec2	last_pos  = new Vec2();	/*--- dynamics of the ball ---*/	private	static final double MAX_TRANSLATION	= 0.50;//meters/sec	private	static final double DECELERATION	= 0.10; //meters/sec/sec	protected Vec2	velocity = new Vec2(0,0);	/*--- set to true to print debug messages ---*/	public	static final boolean DEBUG = false;	/**	 *Instantiate a golf ball.	 */	public GolfBallSim()		{		super();				// initial speed is 0		velocity.sett(Math.random()*Math.PI*2);		velocity.setr(0.0);		}	/**	 * Take a simulated step;	 */	public void takeStep(long time_increment, SimulatedObject[] all_objs)		{		/*--- remember where we started ---*/		last_pos = new Vec2(position.x, position.y);		/*--- take care of state ---*/		if (state != STATE_PLAY) 			{			state = STATE_PLAY;			}		/*--- keep pointer to the other objects ---*/		all_objects = all_objs;		/*--- keep track of how much time has passed ---*/		double time_incd = (double)time_increment / 1000;		shotclock -= time_incd;	                /*--- compute a movement step ---*/                Vec2 mvstep = new Vec2(velocity.x, velocity.y);                mvstep.setr(mvstep.r * time_incd);	                /*--- test the new position to see if in bounds of field ---*/                Vec2 pp = new Vec2(position.x, position.y);                pp.add(mvstep);		// we use the known, hard bounds of the official		// RoboCup soccer field. Check end zones first:		// The reason for taking the absolute values of the		// velocity components is to ensure the ball is moving		// in the right direction.  Otherwise the ball can		// sometimes teeter back and forth along a boundary		// if it is pushed out of bounds.                if ((pp.x+RADIUS >= 1.37)&&(Math.abs(pp.y)>0.25))                       	{			// bounce off right side                       	velocity.setx(-Math.abs(velocity.x));                	pp.sub(mvstep);                       	mvstep.setx(-Math.abs(mvstep.x));                	pp.add(mvstep);                       	}                else if ((pp.x+RADIUS <= -1.37)&&(Math.abs(pp.y)>0.25))                       	{			// bounce off left side                       	velocity.setx(Math.abs(velocity.x));                	pp.sub(mvstep);                       	mvstep.setx(Math.abs(mvstep.x));                	pp.add(mvstep);                       	}                if (pp.y+RADIUS >= .7625)                       	{			// bounce off top                       	velocity.sety(-Math.abs(velocity.y));                	pp.sub(mvstep);                       	mvstep.sety(-Math.abs(mvstep.y));                	pp.add(mvstep);                       	}		else if (pp.y-RADIUS <= -.7625)                       	{			// bounce off bottom                       	velocity.sety(Math.abs(velocity.y));                	pp.sub(mvstep);                       	mvstep.sety(Math.abs(mvstep.y));                	pp.add(mvstep);                       	}	                /*--- test the new position to see if on top of obstacle ---*/                pp = new Vec2(position.x, position.y);                pp.add(mvstep);                for (int i=0; i<all_objects.length; i++)                       	{                       	if (all_objects[i].isObstacle() &&                               	(all_objects[i].getID() != unique_id))                               	{                               	Vec2 tmp = all_objects[i].getClosestPoint(pp);                               	if (tmp.r <= 0)                                       	{					// don't move					mvstep.setr(0);					// bounce					double bounce = Units.BestTurnRad(						velocity.t, tmp.t);					velocity.sett(Math.PI + bounce + tmp.t);					//mvstep.sett(velocity.t);					//mvstep.setr(velocity.r * time_incd * 0.5);                                       	break;                                       	}                               	}                       	}                position.add(mvstep);	                /*--- test the new position to see if on top of pushable ---*/		/* skip this for golf balls, there are no other		   pushable objects in a soccer game.                for (int i=0; i<all_objects.length; i++)                       	{                       	if (all_objects[i].isPushable() &&                               	(all_objects[i].getID() != unique_id))                               	{                               	Vec2 tmp = all_objects[i].getClosestPoint(pp);                               	if (tmp.r < RADIUS)                                       	{                                       	tmp.setr(RADIUS - tmp.r);                                       	all_objects[i].push(tmp, velocity);                                       	}                               	}                       	}		*/		/*--- decelerate ---*/		double newvel = velocity.r - (DECELERATION * time_incd);		if (newvel < 0) newvel = 0;		velocity.setr(newvel);		/*-- test for score ---*/		if ((position.x > 1.37)&&(Math.abs(position.y)<0.25))			{			state = STATE_WEST_SCORE;			westscore++;			position.setr(0);			velocity.setr(0);			shotclock = TIMEOUT;			System.out.println(westscore+" "+eastscore);			}		else if ((position.x < -1.37)&&(Math.abs(position.y)<0.25))			{			state = STATE_EAST_SCORE;			eastscore++;			position.setr(0);			velocity.setr(0);			shotclock = TIMEOUT;			System.out.println(westscore+" "+eastscore);			}		/*--- check shotclock ---*/		if (shotclock <= 0)			{			shotclock = TIMEOUT;			position.setr(0);			velocity.setr(0);			}		/*--- check for no movement ---*/		last_pos.sub(position);		avg_dist = avg_dist * 0.9 + Math.abs(last_pos.r);		if (avg_dist < 0.01)			{			shotclock = TIMEOUT;			position.setr(0);			velocity.setr(0);			}		}	/**	 * Handle a push.  This is how to kick or push the ball.	 */        public void push(Vec2 d, Vec2 v)                {                /*--- move according to the push ---*/                position.add(d);		velocity = new Vec2(v.x, v.y);                }	/**	 * Draw the golf ball and display score and shotclock.	 */        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;                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("golfball at"+                        " at "+xpix+","+ypix);                /*--- draw the ball ---*/                g.setColor(foreground);                g.fillOval(xpix - radius, ypix - radius,                        radius + radius, radius + radius);		/*--- draw the score and shot-clock ---*/		g.setColor(Color.white);		g.drawString("score: "+westscore+":"+eastscore+			" shot: "+(int)shotclock,			(int)((-1.39 -l)/meterspp),			(int)((double)h - ((.7825 - b)/meterspp))-2);                }	/**	 * True if the game is underway.  If false, the soccer robots	 * should reset their positions on the field according to	 * whether they kick off or not.	 * @return true if game is underway.	 */	public boolean playBall()		{		if (state == STATE_PLAY)			return(true);		else			return(false);		}	/**	 * True if it is east's turn to kick off.	 * @return true if it is east's turn to kick off.	 */	public boolean eastKickOff()		{		if (state == STATE_WEST_SCORE)			return(true);		else			return(false);		}	/**	 * True if it is west's turn to kick off.  This occurs	 * at the begining of the game, and after east scores.	 * @return true if it is west's turn to kick off.	 */	public boolean westKickOff()		{		if ((state == STATE_EAST_SCORE)||(state == STATE_BEGIN))			return(true);		else			return(false);		}	/**	 * True if it is west just scored.	 * @return true if west just scored.	 */	public boolean westJustScored()		{		if (state == STATE_WEST_SCORE)			return(true);		else			return(false);		}	/**	 * True if it is east just scored.	 * @return true if east just scored.	 */	public boolean eastJustScored()		{		if (state == STATE_EAST_SCORE)			return(true);		else			return(false);		}	}