Merge remote-tracking branch 'origin/wake_remake' into wake_remake

src/main/java/seng302/App.java

@@ -26,7 +26,7 @@ public class App extends Application
             sr = new StreamReceiver("localhost", 8085, "TestThread1");
         }
         else{
-            //StreamReceiver sr = new StreamReceiver("csse-s302staff.canterbury.ac.nz", 4941,"TestThread1");
+//            sr = new StreamReceiver("csse-s302staff.canterbury.ac.nz", 4941,"TestThread1");
             sr = new StreamReceiver("livedata.americascup.com", 4941, "TestThread1");
         }
 

src/main/java/seng302/controllers/CanvasController.java

@@ -125,7 +125,6 @@ public class CanvasController {
                 }
                 // TODO: 1/05/17 cir27 - Make the RaceObjects update on the actual delay.
                 elapsedNanos = 1000 / 60;
-                System.out.println("elapsedNanos = " + elapsedNanos);
                 for (RaceObject raceObject : raceObjects) {
                     raceObject.updatePosition(elapsedNanos);
                     for (int id : raceObject.getRaceIds()) {

src/main/java/seng302/models/BoatGroup.java

@@ -22,11 +22,11 @@ public class BoatGroup extends RaceObject{
     private static final double VELOCITY_Y_OFFSET = -5d;
     private static final double BOAT_HEIGHT = 15d;
     private static final double BOAT_WIDTH = 10d;
-    private static final int LINE_INTERVAL = 30;
+    private static double expectedUpdateInterval = 200;
-    private double framesForNewLine = 0;
     private boolean destinationSet;
     private Point2D lastPoint;
-    private int wakeGenerationDelay;
+    private int wakeGenerationDelay = 10;
+    private double distanceTravelled;
 
     private Boat boat;
     private Group lineGroup = new Group();
@@ -81,7 +81,6 @@ public class BoatGroup extends RaceObject{
         destinationSet = false;
 
         wake = new Wake(0, -BOAT_HEIGHT);
-        wakeGenerationDelay = wake.numWakes;
         super.getChildren().addAll(teamNameObject, velocityObject, boatPoly);
     }
 
@@ -150,10 +149,11 @@ public class BoatGroup extends RaceObject{
         double dx = pixelVelocityX * timeInterval;
         double dy = pixelVelocityY * timeInterval;
         double rotation = rotationalVelocity * timeInterval;
+        distanceTravelled += Math.abs(dx) + Math.abs(dy);
         moveGroupBy(dx, dy, rotation);
-
+        //Draw a new section of the trail every 20 pixels of movement.
-        if (framesForNewLine-- == 0) {
+        if (distanceTravelled > 20) {
-            framesForNewLine = LINE_INTERVAL;
+            distanceTravelled = 0;
             if (lastPoint != null) {
                 Line l = new Line(
                         lastPoint.getX(),
@@ -161,19 +161,24 @@ public class BoatGroup extends RaceObject{
                         boatPoly.getLayoutX(),
                         boatPoly.getLayoutY()
                 );
-                l.getStrokeDashArray().setAll(4d, 6d);
+                l.getStrokeDashArray().setAll(3d, 7d);
                 l.setStroke(boatPoly.getFill());
                 lineGroup.getChildren().add(l);
             }
-            if (destinationSet){
+            if (destinationSet){ //Only begin drawing after the first destination is set
                 lastPoint = new Point2D(boatPoly.getLayoutX(), boatPoly.getLayoutY());
             }
-            if (lineGroup.getChildren().size() > 60)
-                lineGroup.getChildren().remove(0);
         }
         wake.updatePosition(timeInterval);
     }
 
+    /**
+     * Sets the destination of the boat and the headng it should have once it reaches
+     * @param newXValue
+     * @param newYValue
+     * @param rotation Rotation to move graphics to.
+     * @param raceIds RaceID of the object to move.
+     */
     public void setDestination (double newXValue, double newYValue, double rotation, int... raceIds) {
         if (hasRaceId(raceIds)) {
             destinationSet = true;
@@ -187,19 +192,37 @@ public class BoatGroup extends RaceObject{
                 pixelVelocityX = dx / expectedUpdateInterval;
             }
             double dy = newYValue - boatPoly.getLayoutY();
-            if ((dy > 0 && pixelVelocityY < 0) || (dy < 0 && pixelVelocityY > 0)) {
+            //Check movement is reasonable. Assumes a 1000 * 1000 canvas
-                pixelVelocityY = 0;
+            if (Math.abs(dx) > 50 || Math.abs(dy) > 50) {
-            } else {
+//                System.out.println("dx = " + dx);
-                pixelVelocityY = dy / expectedUpdateInterval;
+//                System.out.println("dy = " + dy);
+                dx = 0;
+                dy = 0;
+                moveTo(newXValue, newYValue);
             }
+            //Slight delay on changing X/Y direction that could help jitter. Disabled since there was an issue with
+            //packets that might be causing it.
+//            if ((dx > 0 && pixelVelocityX < 0) || (dx < 0 && pixelVelocityX > 0)) {
+//                pixelVelocityX = 0;
+//            } else {
+//                pixelVelocityX = dx / expectedUpdateInterval;
+//            }
+//            if ((dy > 0 && pixelVelocityY < 0) || (dy < 0 && pixelVelocityY > 0)) {
+//                pixelVelocityY = 0;
+//            } else {
+//                pixelVelocityY = dy / expectedUpdateInterval;
+//            }
+            pixelVelocityX = dx / expectedUpdateInterval;
+            pixelVelocityY = dy / expectedUpdateInterval;
             rotationalGoal = rotation;
             calculateRotationalVelocity();
             if (wakeGenerationDelay > 0) {
                 wake.rotate(rotationalGoal);
                 wakeGenerationDelay--;
             } else {
-                wake.setRotationalVelocity(rotationalVelocity, currentRotation, pixelVelocityX, pixelVelocityY);
+                wake.setRotationalVelocity(rotationalVelocity, currentRotation, boat.getVelocity());
             }
+            velocityObject.setText(String.format("%.2f m/s", boat.getVelocity()));
         }
     }
 

src/main/java/seng302/models/Wake.java

@@ -15,12 +15,13 @@ import javafx.scene.transform.Rotate;
  */
 class Wake extends Group {
 
-    final int numWakes = 5;
+    private int numWakes = 5;
     private double[] velocities = new double[13];
     private Arc[] arcs = new Arc[numWakes];
     private double[] rotations = new double[numWakes];
     private int[] velocityIndices = new int[numWakes];
     private double sum = 0;
+    private static double max;
 
     /**
      * Create a wake at the given location.
@@ -46,15 +47,19 @@ 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 velocityX, double velocityY) {
+    void setRotationalVelocity (double rotationalVelocity, double rotationGoal, double velocity) {
-        if (Math.abs(rotationalVelocity) > 0.5) {
+//        if (Math.abs(rotationalVelocity) > 0.5) {
-            rotationalVelocity = 0;
+//            rotationalVelocity = 0;
-        }
+//        }
         sum -= Math.abs(velocities[(velocityIndices[0] + 10) % 13]);
         sum += Math.abs(rotationalVelocity);
-        System.out.println("sum = " + sum);
+//        System.out.println("sum = " + sum);
-        if (sum < 0.9)
+        max = Math.max(max, rotationalVelocity);
+        if (sum < max)
             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.
 
@@ -65,14 +70,14 @@ class Wake extends Group {
         for (int i = 1; i < numWakes; i++)
             velocityIndices[i] = (velocityIndices[0] + 3 * i) % 13;
 
-        //Scale wakes based on velocity. Assumes boats are always moving at a decent pace.
+        //Scale wakes based on velocity.
-        double scaleFactor = Math.abs(Math.log10(Math.abs(velocityX) + Math.abs(velocityY)));
+        double baseRad = 20;
-        double baseRad = 25;
+        double rad;
         for (Arc arc :arcs) {
-            double rad = Math.min(baseRad + 5 * scaleFactor, baseRad + 15);
+            rad = baseRad + velocity;
             arc.setRadiusX(rad);
             arc.setRadiusY(rad);
-            baseRad += 10;
+            baseRad += 5 + (velocity / 2);
         }
     }
 

src/main/java/seng302/models/mark/MarkGroup.java

@@ -142,13 +142,13 @@ public class MarkGroup extends RaceObject {
         if (nodePixelVelocitiesX[0] > 0 && markCircle.getCenterX() > nodeDestinations[0].getX() ||
                 nodePixelVelocitiesX[0] < 0 && markCircle.getCenterX() < nodeDestinations[0].getY())
             nodePixelVelocitiesX[0] = 0;
-        else
+        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
+        else if (nodePixelVelocitiesY[0] != 0)
             markCircle.setCenterY(markCircle.getCenterY() + nodePixelVelocitiesY[0] * timeInterval);
 
         if (mainMark.getMarkType() != MarkType.SINGLE_MARK) {
@@ -162,13 +162,13 @@ public class MarkGroup extends RaceObject {
             if (nodePixelVelocitiesX[1] > 0 && markCircle.getCenterX() >= nodeDestinations[1].getX() ||
                     nodePixelVelocitiesX[1] < 0 && markCircle.getCenterX() <= nodeDestinations[1].getX())
                 nodePixelVelocitiesX[1] = 0;
-            else
+            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
+            else if (nodePixelVelocitiesY[1] != 0)
                 markCircle.setCenterY(markCircle.getCenterY() + nodePixelVelocitiesY[1] * timeInterval);
             line.setEndX(markCircle.getCenterX());
             line.setEndY(markCircle.getCenterY());