TimeCrafters/timecrafters_configuration_tool_desktop
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Added Turn state path draw

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Cyberarm
2020-06-16 19:45:27 -05:00
parent fa5aeb15d7
commit ad5dcf8389
3 changed files with 49 additions and 14 deletions
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56
lib/simulator/robot.rb
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@@ -106,7 +106,7 @@ class State
def initialize(robot:, distance:, power:)
@robot = robot
@distance = distance
@power = power
@power = power.clamp(-1.0, 1.0)
end
def start
@@ -116,12 +116,15 @@ class State
@goal.y += Math.sin(@robot.angle.gosu_to_radians) * @distance
@complete = false
@allowable_error = 3.0
@allowable_error = 1.0
end
def draw
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)
Gosu.draw_rect(@goal.x + (@robot.width / 2 - 2), @goal.y + (@robot.depth / 2 - 2), 4, 4, Gosu::Color::RED)
Gosu.draw_line(
@robot.position.x + @robot.width / 2, @robot.position.y + @robot.depth / 2, TAC::Palette::TIMECRAFTERS_TERTIARY,
@goal.x + @robot.width / 2, @goal.y + @robot.depth / 2, TAC::Palette::TIMECRAFTERS_TERTIARY
)
Gosu.draw_rect(@goal.x + (@robot.width / 2 - 1), @goal.y + (@robot.depth / 2 - 1), 2, 2, Gosu::Color::RED)
end
def update(dt)
@@ -144,27 +147,58 @@ class State
def initialize(robot:, relative_angle:, power:)
@robot = robot
@relative_angle = relative_angle
@power = power
@power = power.clamp(-1.0, 1.0)
end
def start
@starting_angle = @robot.angle
@last_angle = @starting_angle
@target_angle = (@starting_angle + @relative_angle) % 360.0
@complete = false
@allowable_error = 3.0
end
def draw
Gosu.rotate(@target_angle, @robot.position.x + @robot.width / 2, @robot.position.y + @robot.depth / 2) do
fraction = 0
angle_difference = Gosu.angle_diff(@target_angle, @robot.angle)
if angle_difference > 0
fraction = angle_difference / 360.0
else
fraction = (angle_difference - 360 % 360) / 360.0
end
Gosu.draw_arc(
@robot.position.x + @robot.width / 2,
@robot.position.y + @robot.depth / 2,
@robot.width > @robot.depth ? @robot.width : @robot.depth,
fraction,
360,
1,
TAC::Palette::TIMECRAFTERS_TERTIARY
)
end
Gosu.draw_circle(
@robot.position.x + @robot.width / 2 + Gosu.offset_x(@target_angle, @robot.width > @robot.depth ? @robot.width : @robot.depth),
@robot.position.y + @robot.depth / 2 + Gosu.offset_y(@target_angle, @robot.width > @robot.depth ? @robot.width : @robot.depth),
1,
9,
Gosu::Color::RED
)
# Gosu.draw_arc(@position.x, @position.y, 6, 1.0, 32, 2, @alliance)
end
def update(dt)
target_angle = (@starting_angle + @relative_angle) % 360.0
if @robot.angle.between?(target_angle - @allowable_error, target_angle + @allowable_error)
if @robot.angle.between?(@target_angle - @allowable_error, @target_angle + @allowable_error)
@complete = true
@robot.angle = target_angle
@robot.angle = @target_angle
elsif Gosu.angle_diff(@starting_angle, target_angle) > 0
elsif Gosu.angle_diff(@starting_angle, @target_angle) > 0
@robot.angle += @power * dt * @robot.speed
elsif Gosu.angle_diff(@starting_angle, target_angle) < 0
elsif Gosu.angle_diff(@starting_angle, @target_angle) < 0
@robot.angle -= @power * dt * @robot.speed
end