From 95bafdc0d1945fb95af8a20843f319e39f6631ff Mon Sep 17 00:00:00 2001
From: Calum <cir27@uclive.ac.nz>
Date: Wed, 26 Apr 2017 19:19:03 +1200
Subject: [PATCH] Fixed bug which caused boats to all travel to the same
 position.

---
 .../seng302/controllers/CanvasController.java | 18 +++++++---
 src/main/java/seng302/models/BoatGroup.java   | 34 ++++++++++++++++---
 2 files changed, 42 insertions(+), 10 deletions(-)

diff --git a/src/main/java/seng302/controllers/CanvasController.java b/src/main/java/seng302/controllers/CanvasController.java
index 117a88fc..4e0aea4b 100644
--- a/src/main/java/seng302/controllers/CanvasController.java
+++ b/src/main/java/seng302/controllers/CanvasController.java
@@ -166,20 +166,28 @@ public class CanvasController {
                             //descending = nextMark.getY() > boatGroup.getLayoutY();
                             //leftToRight = nextMark.getX() < boatGroup.getLayoutX();
 
-                            boatGroup.updatePosition(1000 / 6);
+                            boatGroup.updatePosition(1000 / 60);
                             Point3D p = StreamParser.boatPositions.get((long)boatGroup.getBoat().getId());
                             //System.out.println("boatGroup = " + boatGroup.getBoat().getId());
                             //System.out.println("StreamParser.boatPositions.toString() = " + StreamParser.boatPositions.toString());
                             if (p != null) {
                                 Point2D p2d = latLonToXY(p.getX(), p.getY());
-                                System.out.println("p2d = " + p2d);
+                                //System.out.println("p2d = " + p2d);
                                 if (!boatGroup.getBoat().isSamePos(p2d)) {
                                     //System.out.println("p.toString() = " + p.toString());
                                     double heading = 360.0 / 0xffff * p.getZ();
-                                    System.out.println("heading = " + heading);
-                                    boatGroup.setDestination(p.getX(), p.getY(), heading);
+                                    //System.out.println("heading = " + heading);
+
+
+
+                                    boatGroup.setDestination(p2d.getX(), p2d.getY(), heading);
+
+
+
+                                    //boatGroup.setDestination(p2d.getX(), p2d.getY());
                                 }
                             }
+
 //                            if (descending && nextMark.getY() < boatGroup.getLayoutY()) {
 //                                currentRaceMarker[boatIndex]++;
 //                                boatGroup.setDestination(
@@ -281,7 +289,7 @@ public class CanvasController {
         for (Boat boat : boats) {
             BoatGroup boatGroup = new BoatGroup(boat, Colors.getColor());
             boatGroup.moveBoatTo(startingX, startingY, 0d);
-//            boatGroup.setDestination(firstMarkX, firstMarkY);
+            boatGroup.setDestination(firstMarkX, firstMarkY);
             boatGroup.forceRotation();
             group.getChildren().add(boatGroup);
             boatGroups.add(boatGroup);
diff --git a/src/main/java/seng302/models/BoatGroup.java b/src/main/java/seng302/models/BoatGroup.java
index 82912d08..1292e7e0 100644
--- a/src/main/java/seng302/models/BoatGroup.java
+++ b/src/main/java/seng302/models/BoatGroup.java
@@ -123,7 +123,29 @@ public class BoatGroup extends Group{
         //this.destinationX = newXValue;
         //this.destinationY = newYValue;
         this.rotationalGoal = rotation;
-        this.rotationalVelocity = (rotationalGoal - currentRotation) / expectedUpdateInterval;
+//        if (super.getLayoutY() >= newYValue && super.getLayoutX() <= newXValue)
+//            rotationalGoal = 90 - rotationalGoal;
+//        else if (super.getLayoutY() < newYValue && super.getLayoutX() <= newXValue)
+//            rotationalGoal = 90 + rotationalGoal;
+//        else if (super.getLayoutY() >= newYValue && super.getLayoutX() > newXValue)
+//            rotationalGoal = 270 + rotationalGoal;
+//        else
+//            rotationalGoal = 270 - rotationalGoal;
+//        if (Math.abs(360 - rotationalGoal + currentRotation) < Math.abs(rotationalGoal - currentRotation)) {
+//            System.out.println("ROTATE");
+//            this.rotationalVelocity = (360 - rotationalGoal + currentRotation) / expectedUpdateInterval;
+//        } else {
+//            this.rotationalVelocity = (rotationalGoal - currentRotation) / expectedUpdateInterval;
+//        }
+        if (Math.abs(rotationalGoal - currentRotation) > 180) {
+            if (rotationalGoal - currentRotation >= 0) {
+                this.rotationalVelocity = ((rotationalGoal - currentRotation) - 360) / expectedUpdateInterval;
+            } else {
+                this.rotationalVelocity = (360 + (rotationalGoal - currentRotation)) / expectedUpdateInterval;
+            }
+        } else {
+            this.rotationalVelocity = (rotationalGoal - currentRotation) / expectedUpdateInterval;
+        }
     }
 
     public void setDestination (double newXValue, double newYValue) {
@@ -146,10 +168,12 @@ public class BoatGroup extends Group{
             rotationalGoal = 270 + rotationalGoal;
         else
             rotationalGoal = 270 - rotationalGoal;
-        // TODO: 25/04/2017 cir27 - Verify this logic is correct. Want to produce the shortest path.
-        if (Math.abs(360 - rotationalGoal + currentRotation) < Math.abs(rotationalGoal - currentRotation)) {
-            System.out.println("ROTATE");
-            this.rotationalVelocity = (360 - rotationalGoal + currentRotation) / expectedUpdateInterval;
+        if (Math.abs(rotationalGoal - currentRotation) > 180) {
+            if (rotationalGoal - currentRotation >= 0) {
+                this.rotationalVelocity = ((rotationalGoal - currentRotation) - 360) / expectedUpdateInterval;
+            } else {
+                this.rotationalVelocity = (360 + (rotationalGoal - currentRotation)) / expectedUpdateInterval;
+            }
         } else {
             this.rotationalVelocity = (rotationalGoal - currentRotation) / expectedUpdateInterval;
         }