mirror of
https://github.com/TimeCrafters/timecrafters_configuration_tool_desktop.git
synced 2025-12-16 05:42:35 +00:00
Restructed Simulator to support multiple robots, Field now draws base field without scaling
This commit is contained in:
@@ -1,11 +1,10 @@
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module TAC
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class Simulator
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class Field
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def initialize(container:, season:, simulation:, robot:)
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def initialize(container:, season:, simulation:)
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@container = container
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@season = season
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@simulation = simulation
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@robot = robot
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@position = CyberarmEngine::Vector.new
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@scale = 1
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@@ -19,42 +18,42 @@ module TAC
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def draw
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Gosu.clip_to(@position.x, @position.y, @size, @size) do
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Gosu.translate(@position.x, @position.y) do
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draw_field
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Gosu.scale(@scale) do
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draw_field
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self.send(:"draw_field_#{@season}")
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@robot.draw
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@simulation.__queue.first.draw if @simulation.__queue.first
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@simulation.robots.each(&:draw)
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@simulation.robots.each { |robot| robot.queue.first.draw if robot.queue.first }
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end
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end
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end
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end
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def draw_field
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Gosu.draw_rect(0, 0, @field_size, @field_size, Gosu::Color::GRAY)
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Gosu.draw_rect(0, 0, @field_size * @scale, @field_size * @scale, Gosu::Color::GRAY)
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6.times do |i| # Tile lines across
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next if i == 0
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Gosu.draw_rect(@field_size / 6 * i, 0, 1, @field_size, Gosu::Color::BLACK)
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Gosu.draw_rect((@field_size * @scale) / 6 * i, 0, 1, @field_size * @scale, Gosu::Color::BLACK)
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end
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6.times do |i| # Tile lines down
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next if i == 0
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Gosu.draw_rect(0, @field_size / 6 * i, @field_size, 1, Gosu::Color::BLACK)
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Gosu.draw_rect(0, (@field_size * @scale) / 6 * i, @field_size * @scale, 1, Gosu::Color::BLACK)
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end
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end
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def draw_field_skystone
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# blue bridge
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Gosu.draw_rect(0, @field_size / 2 - 2, 49, 1, @blue)
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Gosu.draw_rect(0, @field_size / 2 + 2, 49, 1, @blue)
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Gosu.draw_rect(0, @field_size / 2 - 2, 48, 1, @blue)
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Gosu.draw_rect(0, @field_size / 2 + 1, 48, 1, @blue)
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# mid bridge
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Gosu.draw_rect(@field_size / 2 - 24, @field_size / 2 - 9.25, 49, 18.5, Gosu::Color.new(0xff_222222))
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Gosu.draw_rect(@field_size / 2 - 24, @field_size / 2 - 2, 49, 1, Gosu::Color::YELLOW)
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Gosu.draw_rect(@field_size / 2 - 24, @field_size / 2 + 2, 49, 1, Gosu::Color::YELLOW)
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Gosu.draw_rect(@field_size / 2 - 24, @field_size / 2 - 9.25, 48, 18.5, Gosu::Color.new(0xff_222222))
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Gosu.draw_rect(@field_size / 2 - 24, @field_size / 2 - 2, 48, 1, Gosu::Color::YELLOW)
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Gosu.draw_rect(@field_size / 2 - 24, @field_size / 2 + 1, 48, 1, Gosu::Color::YELLOW)
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# blue bridge
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Gosu.draw_rect(@field_size - 47, @field_size / 2 - 2, 49, 1, @red)
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Gosu.draw_rect(@field_size - 47, @field_size / 2 + 2, 49, 1, @red)
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Gosu.draw_rect(@field_size - 48, @field_size / 2 - 2, 48, 1, @red)
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Gosu.draw_rect(@field_size - 48, @field_size / 2 + 1, 48, 1, @red)
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# blue build site
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Gosu.draw_quad(
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@@ -73,25 +72,25 @@ module TAC
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)
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# blue depot
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Gosu.draw_rect(@field_size - 23, @field_size - 23, 24, 2, @blue)
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Gosu.draw_rect(@field_size - 23, @field_size - 23, 2, 24, @blue)
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Gosu.draw_rect(@field_size - 24, @field_size - 24, 24, 2, @blue)
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Gosu.draw_rect(@field_size - 24, @field_size - 24, 2, 24, @blue)
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# red depot
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Gosu.draw_rect(-1, @field_size - 23, 24, 2, @red)
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Gosu.draw_rect(22, @field_size - 23, 2, 24, @red)
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Gosu.draw_rect(-1, @field_size - 24, 24, 2, @red)
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Gosu.draw_rect(22, @field_size - 24, 2, 24, @red)
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# blue foundation
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Gosu.draw_rect(48, 4, 18.5, 34.5, @blue)
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# red foundation
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Gosu.draw_rect(@field_size - (47 + 18.5), 4, 18.5, 34.5, @red)
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Gosu.draw_rect(@field_size - (48 + 18.5), 4, 18.5, 34.5, @red)
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# stones
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6.times do |i|
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Gosu.draw_rect(48, @field_size - 8 * i - 8, 4, 8, Gosu::Color::YELLOW)
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end
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6.times do |i|
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Gosu.draw_rect(@field_size - (47 + 4), @field_size - 8 * i - 8, 4, 8, Gosu::Color::YELLOW)
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Gosu.draw_rect(@field_size - (48 + 4), @field_size - 8 * i - 8, 4, 8, Gosu::Color::YELLOW)
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end
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end
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@@ -2,12 +2,19 @@ module TAC
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class Simulator
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class Robot
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attr_accessor :position, :angle
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attr_reader :width, :depth
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def initialize(width:, depth:)
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attr_reader :alliance, :width, :depth
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def initialize(alliance:, width:, depth:)
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@alliance = alliance
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@width, @depth = width, depth
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@position = CyberarmEngine::Vector.new
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@angle = 0
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@queue = []
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@unit = :ticks
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@ticks_per_revolution = 240
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@gear_ratio = 1
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end
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def draw
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@@ -15,14 +22,155 @@ module TAC
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Gosu.rotate(@angle, @position.x, @position.y) do
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Gosu.draw_rect(@position.x - @width / 2, @position.y - @depth / 2, @width, @depth, Gosu::Color::BLACK)
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Gosu.draw_rect(@position.x - @width / 2 + 1, @position.y - @depth / 2 + 1, @width - 2, @depth - 2, Gosu::Color.new(0xff_808022))
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Gosu.draw_arc(@position.x, @position.y, 6, 1.0, 32, 2, TAC::Palette::TIMECRAFTERS_PRIMARY)
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if @alliance == :blue
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Gosu.draw_arc(@position.x, @position.y, 6, 1.0, 32, 2, TAC::Palette::BLUE_ALLIANCE)
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elsif @alliance == :red
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Gosu.draw_arc(@position.x, @position.y, 6, 1.0, 32, 2, TAC::Palette::RED_ALLIANCE)
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else
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Gosu.draw_arc(@position.x, @position.y, 6, 1.0, 32, 2, @alliance)
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end
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Gosu.draw_circle(@position.x, @position.y - @depth * 0.25, 2, 3, TAC::Palette::TIMECRAFTERS_TERTIARY)
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end
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end
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end
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def update
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def update(dt)
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@angle %= 360.0
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if state = @queue.first
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state.update(dt)
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if state.complete?
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@queue.delete(state)
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@queue.first.start unless @queue.empty?
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end
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end
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end
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def set_unit(unit, units_per_revolution = unit)
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case unit
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when :ticks, :inches, :centimeters
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@unit = unit
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else
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raise "Unsupported unit '#{unit.inspect}' exected :ticks, :inches or :centimeters"
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end
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@units_per_revolution = units_per_revolution
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end
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def set_gear_ratio(from, to)
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@gear_ratio = Float(from) / Float(to)
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end
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def set_ticks_per_revolution(ticks)
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@ticks_per_revolution = Integer(ticks)
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end
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def forward(distance, power = 0.5)
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@queue << Move.new(robot: self, distance: distance, power: power)
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end
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def backward(distance, power = 1.0)
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@queue << Move.new(robot: self, distance: -distance, power: power)
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end
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def turn(relative_angle, power = 1.0)
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@queue << Turn.new(robot: self, relative_angle: relative_angle, power: power)
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end
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def speed
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@ticks_per_revolution / @gear_ratio
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end
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def queue
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@queue
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end
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class State
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def start
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end
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def draw
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end
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def update(dt)
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end
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def complete?
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@complete
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end
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end
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class Move < State
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def initialize(robot:, distance:, power:)
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@robot = robot
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@distance = distance
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@power = power
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end
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def start
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@starting_position = @robot.position.clone
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@goal = @starting_position.clone
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@goal.x += Math.cos(@robot.angle.gosu_to_radians) * @distance
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@goal.y += Math.sin(@robot.angle.gosu_to_radians) * @distance
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@complete = false
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@allowable_error = 3.0
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end
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def draw
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Gosu.draw_line(@robot.position.x + @robot.width / 2, @robot.position.y + @robot.depth / 2, Gosu::Color::GREEN, @goal.x + @robot.width / 2, @goal.y + @robot.depth / 2, Gosu::Color::GREEN)
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Gosu.draw_rect(@goal.x + (@robot.width / 2 - 2), @goal.y + (@robot.depth / 2 - 2), 4, 4, Gosu::Color::RED)
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end
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def update(dt)
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speed = (@distance > 0 ? @power * dt : -@power * dt) * @robot.speed
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if @robot.position.distance(@goal) <= @allowable_error
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@complete = true
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@robot.position = @goal
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else
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if speed > 0
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@robot.position -= (@robot.position - @goal).normalized * speed
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else
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@robot.position += (@robot.position - @goal).normalized * speed
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end
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end
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end
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end
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class Turn < State
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def initialize(robot:, relative_angle:, power:)
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@robot = robot
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@relative_angle = relative_angle
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@power = power
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end
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def start
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@starting_angle = @robot.angle
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@last_angle = @starting_angle
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@complete = false
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@allowable_error = 3.0
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end
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def update(dt)
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target_angle = (@starting_angle + @relative_angle) % 360.0
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if @robot.angle.between?(target_angle - @allowable_error, target_angle + @allowable_error)
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@complete = true
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@robot.angle = target_angle
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elsif (@robot.angle - @last_angle).between?(target_angle - @allowable_error, target_angle + @allowable_error)
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@complete = true
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@robot.angle = target_angle
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elsif target_angle > @starting_angle
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@robot.angle += @power * dt * @robot.speed
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elsif target_angle < @starting_angle
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@robot.angle -= @power * dt * @robot.speed
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end
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@last_angle = @robot.angle
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end
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end
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end
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end
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@@ -1,176 +1,38 @@
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module TAC
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class Simulator
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class Simulation
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attr_reader :robot
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attr_reader :robots
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def initialize(source_code:, field_container:)
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@source_code = source_code
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@field_container = field_container
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@robot = Simulator::Robot.new(width: 18, depth: 18)
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@field = Field.new(simulation: self, robot: @robot, season: :skystone, container: @field_container)
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@queue = []
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@unit = :ticks
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@ticks_per_revolution = 240
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@gear_ratio = 1
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@robots = []
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@field = Field.new(simulation: self, season: :skystone, container: @field_container)
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@last_milliseconds = Gosu.milliseconds
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end
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def __start
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def start
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self.instance_eval(@source_code)
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@queue.first.start unless @queue.empty?
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@robots.each { |robot| robot.queue.first.start unless robot.queue.empty? }
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end
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def __queue
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@queue
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end
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def __draw
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def draw
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@field.draw
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end
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def __update
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def update
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@field.update
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@robot.update
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if state = @queue.first
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state.update((Gosu.milliseconds - @last_milliseconds) / 1000.0)
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if state.complete?
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@queue.delete(state)
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@queue.first.start unless @queue.empty?
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end
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end
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@robots.each { |robot| robot.update((Gosu.milliseconds - @last_milliseconds) / 1000.0) }
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@last_milliseconds = Gosu.milliseconds
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end
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def create_robot(width:, height:)
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@robot = Simulator::Robot.new(width: width, height: height)
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end
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def create_robot(alliance:, width:, depth:)
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robot = Simulator::Robot.new(alliance: alliance, width: width, depth: depth)
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@robots << robot
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def set_unit(unit, units_per_revolution = unit)
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case unit
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when :ticks, :inches, :centimeters
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@unit = unit
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else
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raise "Unsupported unit '#{unit.inspect}' exected :ticks, :inches or :centimeters"
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end
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@units_per_revolution = units_per_revolution
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end
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def set_gear_ratio(from, to)
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@gear_ratio = Float(from) / Float(to)
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end
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def set_ticks_per_revolution(ticks)
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@ticks_per_revolution = Integer(ticks)
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end
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def forward(distance, power = 0.5)
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@queue << Move.new(simulation: self, distance: distance, power: power)
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end
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def backward(distance, power = 1.0)
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@queue << Move.new(simulation: self, distance: -distance, power: power)
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end
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def turn(relative_angle, power = 1.0)
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@queue << Turn.new(simulation: self, relative_angle: relative_angle, power: power)
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end
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def __speed
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@ticks_per_revolution / @gear_ratio
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end
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class State
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def start
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end
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def draw
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end
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def update(dt)
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end
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def complete?
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@complete
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end
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end
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class Move < State
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def initialize(simulation:, distance:, power:)
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@simulation = simulation
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@robot = @simulation.robot
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@distance = distance
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@power = power
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end
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def start
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@starting_position = @robot.position.clone
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@goal = @starting_position.clone
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@goal.x += Math.cos(@robot.angle.gosu_to_radians) * @distance
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@goal.y += Math.sin(@robot.angle.gosu_to_radians) * @distance
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@complete = false
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@allowable_error = 3.0
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end
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def draw
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Gosu.draw_line(@robot.position.x + @robot.width / 2, @robot.position.y + @robot.depth / 2, Gosu::Color::GREEN, @goal.x + @robot.width / 2, @goal.y + @robot.depth / 2, Gosu::Color::GREEN)
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Gosu.draw_rect(@goal.x + (@robot.width / 2 - 2), @goal.y + (@robot.depth / 2 - 2), 4, 4, Gosu::Color::RED)
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end
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def update(dt)
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speed = (@distance > 0 ? @power * dt : -@power * dt) * @simulation.__speed
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if @robot.position.distance(@goal) <= @allowable_error
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@complete = true
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@robot.position = @goal
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else
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if speed > 0
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@robot.position -= (@robot.position - @goal).normalized * speed
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else
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@robot.position += (@robot.position - @goal).normalized * speed
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end
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end
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end
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end
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class Turn < State
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def initialize(simulation:, relative_angle:, power:)
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@simulation = simulation
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@robot = @simulation.robot
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@relative_angle = relative_angle
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@power = power
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end
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def start
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@starting_angle = @robot.angle
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@last_angle = @starting_angle
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@complete = false
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@allowable_error = 3.0
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end
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def update(dt)
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target_angle = (@starting_angle + @relative_angle) % 360.0
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if @robot.angle.between?(target_angle - @allowable_error, target_angle + @allowable_error)
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@complete = true
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@robot.angle = target_angle
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elsif (@robot.angle - @last_angle).between?(target_angle - @allowable_error, target_angle + @allowable_error)
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@complete = true
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@robot.angle = target_angle
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||||
elsif target_angle > @starting_angle
|
||||
@robot.angle += @power * dt * @simulation.__speed
|
||||
elsif target_angle < @starting_angle
|
||||
@robot.angle -= @power * dt * @simulation.__speed
|
||||
end
|
||||
|
||||
@last_angle = @robot.angle
|
||||
end
|
||||
return robot
|
||||
end
|
||||
end
|
||||
end
|
||||
|
||||
Reference in New Issue
Block a user