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Boat auto pilots correctly for tacking/gybing. Needs proper testing.

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#story[1105]
This commit is contained in:
Alistair McIntyre
2017-08-10 14:53:24 +12:00
parent 9d02d2fbea
commit 430779c943
1 changed files with 63 additions and 23 deletions
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src/main/java/seng302/model/Yacht.java
+63 -23
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@@ -48,7 +48,7 @@ public class Yacht {
private Integer legNumber = 0;
//SERVER SIDE
private final Double TURN_STEP = 5.0;
private final Double TURN_STEP = 3.0;
private Double lastHeading;
private Boolean sailIn;
private GeoPoint location;
@@ -102,6 +102,7 @@ public class Yacht {
Double trueWindAngle = Math.abs(GameState.getWindDirection() - heading);
Double boatSpeedInKnots = PolarTable.getBoatSpeed(windSpeedKnots, trueWindAngle);
Double maxBoatSpeed = boatSpeedInKnots / 1.943844492 * 1000;
// TODO: 10/08/17 ajm412: this acceleration stuff should be its own method, and shouldn't have all these magic numbers, could possibly be modelled better.
if (sailIn && velocity <= maxBoatSpeed && maxBoatSpeed != 0d) {
if (velocity < maxBoatSpeed) {
@@ -112,7 +113,6 @@ public class Yacht {
}
} else { // Deceleration
if (velocity > 0d) {
if (maxBoatSpeed != 0d) {
velocity -= maxBoatSpeed / 600;
@@ -126,10 +126,7 @@ public class Yacht {
}
if (isAuto) {
turnTowardsHeading(autoHeading);
if (Math.abs(heading - autoHeading) <= 5) {
isAuto = false;
}
runAutoPilot();
}
//UPDATE BOAT LOCATION
@@ -144,7 +141,6 @@ public class Yacht {
// TODO: 3/08/17 wmu16 - Implement line cross check here
}
/**
* Calculates the distance to the next mark (closest of the two if a gate mark).
*
@@ -164,6 +160,12 @@ public class Yacht {
}
}
/**
* Adjusts the heading of the boat by a given amount, while recording the boats
* last heading.
*
* @param amount the amount by which to adjust the boat heading.
*/
public void adjustHeading(Double amount) {
Double newVal = heading + amount;
lastHeading = heading;
@@ -171,17 +173,46 @@ public class Yacht {
}
/**
* Should tell boat to auto pilot towards the autopilot heading.
* Swaps the boats direction from one side of the wind to the other.
*/
public void tackGybe(Double windDirection) {
Double normalizedHeading = normalizeHeading();
setAutoPilot(-2 * normalizedHeading);
Double newVal = (-2 * normalizedHeading) + heading;
//newVal += heading;
Double newHeading = (double) Math.floorMod(newVal.longValue(), 360L);
setAutoPilot(newHeading);
}
/**
* Enables the boats auto pilot feature, which will move the boat towards a given heading.
* @param thisHeading The heading to move the boat towards.
*/
private void setAutoPilot(Double thisHeading) {
isAuto = true;
Double newVal = heading + thisHeading;
autoHeading = (double) Math.floorMod(newVal.longValue(), 360L);
autoHeading = thisHeading;
}
/**
* Disables the auto pilot function.
*/
public void disableAutoPilot() {
isAuto = false;
}
/**
* Moves the boat towards the given heading when the auto pilot was set. Disables the auto pilot
* in the event that the boat is within the range of 1 turn step of its goal.
*/
private void runAutoPilot() {
if (autoHeading == null) {
isAuto = false;
// TODO: 10/08/17 possibly throw some sort of exception here maybe? autopilot shouldn't be true if there's no heading.
}
turnTowardsHeading(autoHeading);
if (Math.abs(heading - autoHeading)
<= TURN_STEP) { //Cancel when within 1 turn step of target.
isAuto = false;
}
}
public void toggleSailIn() {
@@ -231,6 +262,7 @@ public class Yacht {
}
public void turnToVMG() {
// TODO: 10/08/17 ajm412: The way this works is absolute rubbish. Needs to determine upwind/downwind, then which side of the wind, then move to the correct values.
Double normalizedHeading = normalizeHeading();
Double optimalHeading;
HashMap<Double, Double> optimalPolarMap;
@@ -242,27 +274,37 @@ public class Yacht {
optimalPolarMap = PolarTable.getOptimalUpwindVMG(GameState.getWindSpeedKnots());
optimalHeading = optimalPolarMap.keySet().iterator().next();
}
// Take optimal heading and turn into correct
// Take optimal heading and turn into a boat heading rather than a wind heading.
optimalHeading =
optimalHeading + (double) Math.floorMod(GameState.getWindDirection().longValue(), 360L);
turnTowardsHeading(optimalHeading);
setAutoPilot(optimalHeading);
}
/**
* Takes a given heading and rotates the boat towards that heading.
* This does not care about being upwind or downwind, just which direction will reach a given
* heading faster.
*
* @param newHeading The heading to turn the yacht towards.
*/
private void turnTowardsHeading(Double newHeading) {
System.out.println(newHeading);
if (heading < 90 && newHeading > 270) {
adjustHeading(-TURN_STEP);
Double newVal = heading - newHeading;
if (Math.floorMod(newVal.longValue(), 360L) > 180) {
adjustHeading(TURN_STEP);
} else {
if (heading < newHeading) {
adjustHeading(TURN_STEP);
} else {
adjustHeading(-TURN_STEP);
}
adjustHeading(-TURN_STEP);
}
}
/**
* Returns a heading normalized for the wind direction. Heading direction into the wind is 0,
* directly away is 180.
*
* @return The normalized heading accounting for wind direction.
*/
private Double normalizeHeading() {
Double normalizedHeading = heading - GameState.windDirection;
normalizedHeading = (double) Math.floorMod(normalizedHeading.longValue(), 360L);
@@ -431,7 +473,6 @@ public class Yacht {
this.timeTillNext = timeTillNext;
}
public Color getColour() {
return colour;
}
@@ -440,7 +481,6 @@ public class Yacht {
this.colour = colour;
}
public Double getVelocity() {
return velocity;
}