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Wake calculation now changed to be based off of the separation between wakes.

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This allows wakes to auto correct their position better and stops the system reliance on "realistic data".
Wakes have several options for behaviour until the ideal settings are decided upon.
Note that MarkGroup position updating is currently disabled.

#implement #refactor #issue[1] #story[923]
This commit is contained in:
Calum
2017-05-14 17:24:15 +12:00
parent 711f6f4c45
commit 89ef6e5277
4 changed files with 158 additions and 84 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/seng302/App.java
+2 -1
View File
@@ -62,7 +62,8 @@ public class App extends Application
}
//Change the StreamReceiver in this else block to change the default data source.
else{
sr = new StreamReceiver("localhost", 4949, "RaceStream");
// sr = new StreamReceiver("localhost", 4949, "RaceStream");
sr = new StreamReceiver("csse-s302staff.canterbury.ac.nz", 4941, "RaceStream");
}
sr.start();
src/main/java/seng302/models/BoatGroup.java
+11 -13
View File
@@ -204,25 +204,23 @@ public class BoatGroup extends RaceObject{
double dx = newXValue - boatPoly.getLayoutX();
double dy = newYValue - boatPoly.getLayoutY();
//Check movement is reasonable. Assumes a 1000 * 1000 canvas
if (Math.abs(dx) > 50 || Math.abs(dy) > 50) {
dx = 0;
dy = 0;
moveTo(newXValue, newYValue);
}
// if (Math.abs(dx) > 50 || Math.abs(dy) > 50) {
// dx = 0;
// dy = 0;
// moveTo(newXValue, newYValue);
// }
pixelVelocityX = dx / expectedUpdateInterval;
pixelVelocityY = dy / expectedUpdateInterval;
rotationalGoal = rotation;
calculateRotationalVelocity();
if (wakeGenerationDelay > 0) {
wake.rotate(rotationalGoal);
rotateTo(rotationalGoal); //Need to test with this removed.
if (Math.abs(rotationalVelocity) > 0.075) {
System.out.println("rotationalVelocity = " + rotationalVelocity);
rotationalVelocity = 0;
wakeGenerationDelay--;
} else {
wake.setRotationalVelocity(rotationalVelocity, rotationalGoal, boat.getVelocity());
rotateTo(rotationalGoal);
wake.rotate(rotationalGoal);
}
wake.setRotationalVelocity(rotationalVelocity, boat.getVelocity());
velocityObject.setText(String.format("%.2f m/s", boat.getVelocity()));
} else {
setToInitialLocation = true;
@@ -347,7 +345,7 @@ public class BoatGroup extends RaceObject{
App.start() -> Controller.setContentPane -> RaceViewController -> CanvasController
*/
this.stage = stage;
this.stage.iconifiedProperty().addListener(e -> {
this.stage.iconifiedProperty().addListener( e -> {
isMaximized = !stage.isIconified();
if (!lineStorage.isEmpty()) {
lineGroup.getChildren().addAll(lineStorage);
src/main/java/seng302/models/Wake.java
+108 -33
View File
@@ -4,6 +4,7 @@ import javafx.scene.Group;
import javafx.scene.paint.Color;
import javafx.scene.shape.Arc;
import javafx.scene.shape.ArcType;
import javafx.scene.shape.StrokeLineCap;
import javafx.scene.transform.Rotate;
/**
@@ -15,13 +16,22 @@ import javafx.scene.transform.Rotate;
*/
class Wake extends Group {
private int numWakes = 5;
private double[] velocities = new double[13];
//Wake Settings. Should probably be hard coded in when the final values are decided upon.
private enum functionType {LINEAR, LOGARITHMIC, POWER, ROOT, POWOUT_LOGIN}
private functionType wakeFunction = functionType.LOGARITHMIC;
private ArcType arcType = ArcType.OPEN;
private int numWakes = 10;
private double offSet = 0;
private final double MAX_DIFF = 75.0;
private final int UNIFICATION_SPEED = 500;
private final int POWER = 2;
private Arc[] arcs = new Arc[numWakes];
private double[] rotationalVelocities = new double[numWakes];
private double[] rotations = new double[numWakes];
private int[] velocityIndices = new int[numWakes];
private double sum = 0;
private static double max;
private double baseRad;
private boolean spawnNewWake = false;
private int count = 10;
/**
* Create a wake at the given location.
@@ -34,12 +44,23 @@ class Wake extends Group {
Arc arc;
for (int i = 0; i < numWakes; i++) {
//Default triangle is -110 deg out of phase with a default wake and has angle of 40 deg.
arc = new Arc(0,0,0,0,-110,40);
//Opacity increases from 0.5 -> 0 evenly over the 5 wake arcs.
arc.setFill(new Color(0.18, 0.7, 1.0, 1.0 + -0.175 * i));
arc = new Arc(0, 0, 0, 0, -110, 40);
if (arcType == ArcType.ROUND) {
arc.setFill(new Color(0.18, 0.7, 1.0, 0.4 + (-0.35 / numWakes * i)));
arc.setType(ArcType.ROUND);
baseRad = 10;
} else if (arcType == ArcType.OPEN) {
arc.setType(ArcType.OPEN);
arc.setStroke(new Color(0.18, 0.7, 1.0, 1.0 + (-0.99 / numWakes * i)));
arc.setStrokeWidth(3.0);
arc.setStrokeLineCap(StrokeLineCap.ROUND);
arc.setFill(new Color(0.0, 0.0, 0.0, 0.0));
baseRad = (20 / numWakes);
arcs[i] = arc;
}
}
super.getChildren().addAll(arcs);
}
@@ -47,38 +68,91 @@ class Wake extends Group {
* Sets the rotationalVelocity of each arc. Each arc is 3 velocities behind the next smallest arc. The smallest uses
* the latest given velocity.
* @param rotationalVelocity The rotationalVelocity the wake should move at.
* @param rotationGoal Where the wake will rotate to if the wake is calculated to be on a straight section. This is
* used to prevent desynchronisation with the Boat polygon.
* @param velocity The real world velocity of the boat in m/s.
*/
void setRotationalVelocity (double rotationalVelocity, double rotationGoal, double velocity) {
sum -= Math.abs(velocities[(velocityIndices[0] + 10) % 13]);
sum += Math.abs(rotationalVelocity);
max = Math.max(max, rotationalVelocity);
if (sum < (max / 3))
rotate (rotationGoal); //In relatively straight segments the wake snaps to match the boats current position.
//This stops the wake from eventually becoming out of sync with the boat.
//This accounts for rogue rotations that are greater than what would be realistic. Value is kinda rough.
//Basically just for our internal mock.
if (Math.abs(rotationalVelocity) > 0.05) {
rotationalVelocity = 0;
rotate(rotationGoal);
void setRotationalVelocity (double rotationalVelocity, double velocity) {
rotationalVelocities[0] = rotationalVelocity;
for (int i = 1; i < numWakes; i++) {
double difference = Math.atan2(
Math.sin(
Math.toRadians(
rotations[i - 1] - rotations[i]
)
),
Math.cos(
Math.toRadians(
rotations[i - 1] - rotations[i]
)
)
);
difference = Math.toDegrees(difference);
if (wakeFunction == functionType.LOGARITHMIC) {
if (rotationalVelocities[i-1] < 0.01 && rotationalVelocities[i-1] > -0.01) {
rotationalVelocities[i] = (MAX_DIFF / numWakes) / UNIFICATION_SPEED * Math.log(Math.abs(difference) + 1) / Math.log(MAX_DIFF / numWakes) * 1.5;
if (difference < 0)
{
rotationalVelocities[i] = -rotationalVelocities[i];
}
} else {
rotationalVelocities[i] = rotationalVelocities[i-1] * Math.log(Math.abs(difference) + 1) / Math.log(MAX_DIFF / numWakes);
}
} else if (wakeFunction == functionType.LINEAR) {
if (rotationalVelocities[i - 1] < 0.01 && rotationalVelocities[i - 1] > -0.01) {
rotationalVelocities[i] = difference / UNIFICATION_SPEED * 2;
} else {
if (difference < (MAX_DIFF / numWakes))
rotationalVelocities[i] = rotationalVelocities[i - 1] * difference / (MAX_DIFF / numWakes);
else
rotationalVelocities[i] = rotationalVelocities[i - 1];
}
} else if (wakeFunction == functionType.POWER) {
if (rotationalVelocities[i - 1] < 0.01 && rotationalVelocities[i - 1] > -0.01) {
rotationalVelocities[i] = difference / UNIFICATION_SPEED * Math.pow(difference, POWER) / Math.pow((MAX_DIFF / numWakes), POWER);
} else {
if (difference < (MAX_DIFF / numWakes))
rotationalVelocities[i] = rotationalVelocities[i - 1] * Math.pow(difference, POWER) / Math.pow((MAX_DIFF / numWakes), POWER);
else
rotationalVelocities[i] = rotationalVelocities[i - 1];
}
} else if (wakeFunction == functionType.ROOT) {
if (rotationalVelocities[i - 1] < 0.01 && rotationalVelocities[i - 1] > -0.01) {
rotationalVelocities[i] = (MAX_DIFF / numWakes) / UNIFICATION_SPEED * Math.sqrt(Math.abs(difference)) / Math.sqrt(MAX_DIFF / numWakes);
} else {
if (difference < (MAX_DIFF / numWakes))
rotationalVelocities[i] = rotationalVelocities[i - 1] * Math.sqrt(Math.abs(difference)) / Math.sqrt(MAX_DIFF / numWakes);
else
rotationalVelocities[i] = rotationalVelocities[i - 1];
}
if (difference < 0)
rotationalVelocities[i] = -rotationalVelocities[i];
} else if (wakeFunction == functionType.POWOUT_LOGIN) {
if (rotationalVelocities[i - 1] < 0.01 && rotationalVelocities[i - 1] > -0.01) {
rotationalVelocities[i] = difference / UNIFICATION_SPEED * Math.log(Math.abs(difference) + 1) / Math.log(MAX_DIFF / numWakes);
} else {
if (difference < (MAX_DIFF / numWakes))
rotationalVelocities[i] = rotationalVelocities[i - 1] * Math.pow(difference, POWER) / Math.pow((MAX_DIFF / numWakes), POWER);
else
rotationalVelocities[i] = rotationalVelocities[i - 1];
}
}
}
//Update the index of the array of recent velocities that each wake uses. Each wake is 3 velocities behind the
//next smallest wake.
velocityIndices[0] = (13 + (velocityIndices[0] - 1) % 13) % 13;
velocities[velocityIndices[0]] = rotationalVelocity;
for (int i = 1; i < numWakes; i++)
velocityIndices[i] = (velocityIndices[0] + 3 * i) % 13;
//Scale wakes based on velocity.
double baseRad = 20;
double rad;
// if (count-- == 0)
// {
// count = 10;
// offSet = 0;
// } else {
// offSet += baseRad / 5;
// }
double rad = baseRad + velocity + offSet;
for (Arc arc :arcs) {
rad = baseRad + velocity;
arc.setRadiusX(rad);
arc.setRadiusY(rad);
baseRad += 5 + (velocity / 2);
rad += (20 / numWakes) + (velocity / 2);
}
}
@@ -88,7 +162,7 @@ class Wake extends Group {
*/
void updatePosition (long timeInterval) {
for (int i = 0; i < numWakes; i++) {
rotations[i] = rotations[i] + velocities[velocityIndices[i]] * timeInterval;
rotations[i] = rotations[i] + rotationalVelocities[i] * timeInterval;
arcs[i].getTransforms().setAll(new Rotate(rotations[i]));
}
}
@@ -100,6 +174,7 @@ class Wake extends Group {
void rotate (double rotation) {
for (int i = 0; i < arcs.length; i++) {
rotations[i] = rotation;
rotationalVelocities[i] = 0;
arcs[i].getTransforms().setAll(new Rotate(rotation));
}
}
src/main/java/seng302/models/mark/MarkGroup.java
+36 -36
View File
@@ -126,42 +126,42 @@ public class MarkGroup extends RaceObject {
}
public void updatePosition (long timeInterval) {
Circle markCircle = (Circle) super.getChildren().get(0);
if (nodePixelVelocitiesX[0] > 0 && markCircle.getCenterX() > nodeDestinations[0].getX() ||
nodePixelVelocitiesX[0] < 0 && markCircle.getCenterX() < nodeDestinations[0].getY())
nodePixelVelocitiesX[0] = 0;
else if (nodePixelVelocitiesX[0] != 0)
markCircle.setCenterX(markCircle.getCenterX() + nodePixelVelocitiesX[0] * timeInterval);
if (nodePixelVelocitiesY[0] > 0 && markCircle.getCenterY() > nodeDestinations[0].getY() ||
nodePixelVelocitiesY[0] < 0 && markCircle.getCenterY() < nodeDestinations[0].getY())
nodePixelVelocitiesY[0] = 0;
else if (nodePixelVelocitiesY[0] != 0)
markCircle.setCenterY(markCircle.getCenterY() + nodePixelVelocitiesY[0] * timeInterval);
if (mainMark.getMarkType() != MarkType.SINGLE_MARK) {
Line line = (Line) super.getChildren().get(2);
line.setStartX(markCircle.getCenterX());
line.setStartY(markCircle.getCenterY());
markCircle = (Circle) super.getChildren().get(1);
if (nodePixelVelocitiesX[1] > 0 && markCircle.getCenterX() >= nodeDestinations[1].getX() ||
nodePixelVelocitiesX[1] < 0 && markCircle.getCenterX() <= nodeDestinations[1].getX())
nodePixelVelocitiesX[1] = 0;
else if (nodePixelVelocitiesX[1] != 0)
markCircle.setCenterX(markCircle.getCenterX() + nodePixelVelocitiesX[1] * timeInterval);
if (nodePixelVelocitiesY[1] > 0 && markCircle.getCenterY() > nodeDestinations[1].getY() ||
nodePixelVelocitiesY[1] < 0 && markCircle.getCenterY() < nodeDestinations[1].getY())
nodePixelVelocitiesY[1] = 0;
else if (nodePixelVelocitiesY[1] != 0)
markCircle.setCenterY(markCircle.getCenterY() + nodePixelVelocitiesY[1] * timeInterval);
line.setEndX(markCircle.getCenterX());
line.setEndY(markCircle.getCenterY());
}
// Circle markCircle = (Circle) super.getChildren().get(0);
//
// if (nodePixelVelocitiesX[0] > 0 && markCircle.getCenterX() > nodeDestinations[0].getX() ||
// nodePixelVelocitiesX[0] < 0 && markCircle.getCenterX() < nodeDestinations[0].getY())
// nodePixelVelocitiesX[0] = 0;
// else if (nodePixelVelocitiesX[0] != 0)
// markCircle.setCenterX(markCircle.getCenterX() + nodePixelVelocitiesX[0] * timeInterval);
//
// if (nodePixelVelocitiesY[0] > 0 && markCircle.getCenterY() > nodeDestinations[0].getY() ||
// nodePixelVelocitiesY[0] < 0 && markCircle.getCenterY() < nodeDestinations[0].getY())
// nodePixelVelocitiesY[0] = 0;
// else if (nodePixelVelocitiesY[0] != 0)
// markCircle.setCenterY(markCircle.getCenterY() + nodePixelVelocitiesY[0] * timeInterval);
//
// if (mainMark.getMarkType() != MarkType.SINGLE_MARK) {
//
// Line line = (Line) super.getChildren().get(2);
// line.setStartX(markCircle.getCenterX());
// line.setStartY(markCircle.getCenterY());
//
// markCircle = (Circle) super.getChildren().get(1);
//
// if (nodePixelVelocitiesX[1] > 0 && markCircle.getCenterX() >= nodeDestinations[1].getX() ||
// nodePixelVelocitiesX[1] < 0 && markCircle.getCenterX() <= nodeDestinations[1].getX())
// nodePixelVelocitiesX[1] = 0;
// else if (nodePixelVelocitiesX[1] != 0)
// markCircle.setCenterX(markCircle.getCenterX() + nodePixelVelocitiesX[1] * timeInterval);
//
// if (nodePixelVelocitiesY[1] > 0 && markCircle.getCenterY() > nodeDestinations[1].getY() ||
// nodePixelVelocitiesY[1] < 0 && markCircle.getCenterY() < nodeDestinations[1].getY())
// nodePixelVelocitiesY[1] = 0;
// else if (nodePixelVelocitiesY[1] != 0)
// markCircle.setCenterY(markCircle.getCenterY() + nodePixelVelocitiesY[1] * timeInterval);
// line.setEndX(markCircle.getCenterX());
// line.setEndY(markCircle.getCenterY());
// }
}
public void moveGroupBy (double x, double y, double rotation) {