/* * KinSensorSim.java */package EDU.gatech.cc.is.abstractrobot;import java.awt.*;import EDU.gatech.cc.is.util.Vec2;import EDU.gatech.cc.is.util.Units;import EDU.gatech.cc.is.simulation.*;/** * A class that implements the KinSensor interface.  You can use * objects of this class in your simulated robot code to easily * implement the KinSensor interface for your simulated robot. *  * <P> * <A HREF="../COPYRIGHT.html">Copyright</A> * (c)1997, 1998 Tucker Balch * * @author Tucker Balch * @version $Revision: 1.1 $ */public class KinSensorSim 	{	private SimulatedObject	robot;		// the robot	public	static final boolean DEBUG = false;// set true for debug						// messages	private	double	kin_rangeM = 4.0;	/**	 * Instantiate a <B>KinSensorSim</B> object.	 * @param r SimulatedObject, the robot on which the KinSensor resides.	 */        public KinSensorSim(SimulatedObject r)		{		robot=r;		if (DEBUG) System.out.println("KinSensorSim: instantiated.");		}		/**	 * Build an array of our robot opponents.	 */	private int[] computeOpponents(SimulatedObject[] all_objects)		{		int num_Opponents = 0;		int our_v_class = robot.getVisionClass();		/*--- check all objects ---*/		for(int i = 0; i<all_objects.length; i++)			{			/*--- check if it's not a teammate and a robot ---*/			if (all_objects[i].getVisionClass()!=our_v_class &&				(all_objects[i] instanceof Simple))				{				num_Opponents++;				}			}				/*--- now assign the indices in the array ---*/		int[] opp_ids = new int[num_Opponents];		int iter=0;		for(int i = 0; i<all_objects.length; i++)			{			/*--- check if it's not a teammate and a robot ---*/			if (all_objects[i].getVisionClass()!=our_v_class &&				(all_objects[i] instanceof Simple))				{				opp_ids[iter++] = i;				}			}		return(opp_ids);		}	/**	 * Build an array of our robot teammates.	 */	private int[] computeTeammates(SimulatedObject[] all_objects)		{		int num_Teammates = 0;		int our_v_class = robot.getVisionClass();		/*--- check all objects ---*/		for(int i = 0; i<all_objects.length; i++)			{			/*--- check if it's a teammate, robot and not self ---*/			if (all_objects[i].getVisionClass()==our_v_class &&				(all_objects[i].getID() != robot.getID())&&				(all_objects[i] instanceof Simple))				{				num_Teammates++;				}			}				/*--- now assign the indices in the array ---*/		int[] team_ids = new int[num_Teammates];		int iter=0;		for(int i = 0; i<all_objects.length; i++)			{			/*--- check if it's a teammate, robot and not self ---*/			if (all_objects[i].getVisionClass()==our_v_class &&				(all_objects[i].getID() != robot.getID())&&				(all_objects[i] instanceof Simple))				{				team_ids[iter++] = i;				}			}		return(team_ids);		}        /**         * Return this robot's player number.  This is distinct	 * from the simulation-oriented unique_id.         * @param ignored long, ignored.         * @return the player number.         */	public int getPlayerNumber(SimulatedObject[] all_objects)		{		int num_Teammates = computeTeammates(all_objects).length;		return(robot.getID()%(num_Teammates+1));		}	/**	 * Get an array of Vec2s that point egocentrically from the	 * center of the robot to the teammates currently sensed by the 	 * robot.	 * @param all_objects SimulatedObject[] other objects in the	 *		simulation.	 * @return the sensed teammates.	 */	public Vec2[] getTeammates(SimulatedObject[] all_objects)		{		Vec2 tmp_objs[] = new Vec2[all_objects.length];		int num_Teammates = 0;		int[] team_ids = computeTeammates(all_objects);		Vec2 position = robot.getPosition();		/*--- check all teammates ---*/		for(int i = 0; i<team_ids.length; i++)			{			Vec2 tmp = all_objects[team_ids[i]].getClosestPoint(							position);			// make sure in visible range			if (tmp.r<kin_rangeM)			tmp_objs[num_Teammates++] = tmp;			}		Vec2[] last_Teammates = new Vec2[num_Teammates];		for(int i = 0; i<num_Teammates; i++)			{			last_Teammates[i] = new Vec2(tmp_objs[i].x,				tmp_objs[i].y);			}		return(last_Teammates);		}	/**	 * Get an array of Vec2s that point egocentrically from the	 * center of the robot to the opponents currently sensed by the 	 * robot.	 * @param all_objects SimulatedObject[] other objects in the	 *		simulation.	 * @return the sensed opponents.	 */	public Vec2[] getOpponents(SimulatedObject[] all_objects)		{		Vec2 tmp_objs[] = new Vec2[all_objects.length];		int num_Opponents = 0;		int[] opp_ids = computeOpponents(all_objects);		Vec2 position = robot.getPosition();		/*--- check all opponents ---*/		for(int i = 0; i<opp_ids.length; i++)			{			Vec2 tmp = all_objects[opp_ids[i]].getClosestPoint(							position);			if (tmp.r<kin_rangeM)			tmp_objs[num_Opponents++] = tmp;			}		Vec2[] last_Opponents = new Vec2[num_Opponents];		for(int i = 0; i<num_Opponents; i++)			{			last_Opponents[i] = new Vec2(tmp_objs[i].x,				tmp_objs[i].y);			}		return(last_Opponents);		}	/**	 * Set the maximum range at which a sensor reading should be considered	 * kin.  Beyond this range, the readings are ignored.	 * @param range the range in meters.	 */	public void setKinMaxRange(double range)		{		kin_rangeM = range;		}	}