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SUMMARY: INNER | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Object | +--EDU.cmu.cs.coral.simulation.LinearObstacleSim
a road for simulation.
Copyright (c)1998 Tucker Balch and Carnegie Mellon University
Field Summary | |
protected double |
b
|
protected Vec2 |
center
|
static boolean |
DEBUG
|
protected Vec2 |
end
|
protected double |
m
|
protected double |
mrot
|
protected double |
RADIUS
|
protected Vec2 |
start
|
Constructor Summary | |
LinearObstacleSim()
Instantiate a LinearObstacleSim object. |
Method Summary | |
boolean |
checkCollision(Circle2 c)
determine if the object is intersecting with a specified circle. |
boolean |
checkCollision(Polygon2 p)
determine if the object is intersecting with a specified polygon. |
void |
clearTrail()
Clear the trail. |
void |
draw(java.awt.Graphics g,
int w,
int h,
double t,
double b,
double l,
double r)
Draw the object. |
void |
draw(Vec2 pos,
java.awt.Graphics g,
int w,
int h,
double t,
double b,
double l,
double r)
Draw the object in a specific spot. |
void |
drawIcon(java.awt.Graphics g,
int w,
int h,
double t,
double b,
double l,
double r)
Draw the object as an icon. |
void |
drawID(java.awt.Graphics g,
int w,
int h,
double t,
double b,
double l,
double r)
Draw the objects's ID. |
void |
drawState(java.awt.Graphics g,
int w,
int h,
double t,
double b,
double l,
double r)
Draw the objects's State. |
void |
drawTrail(java.awt.Graphics g,
int w,
int h,
double t,
double b,
double l,
double r)
Draw the objects's Trail. |
Vec2 |
getCenter(Vec2 from)
Find the center point of the object from a particular location. |
Vec2 |
getClosestPoint(Vec2 from)
Find the closest point on the object from a particular location. |
int |
getID()
Return the id. |
Vec2 |
getPosition()
Find the center point of the object in absolute coordinates. |
int |
getVisionClass()
Return the vision class of the object. |
void |
init(double x,
double y,
double t,
double r,
java.awt.Color f,
java.awt.Color back,
int v,
int i,
long s)
Initialize a LinearObstacleSim object. |
void |
init(double x1,
double y1,
double x2,
double y2,
double r,
java.awt.Color f,
java.awt.Color back,
int v,
int i,
long s)
Initialize a LinearObstacleSim object. |
boolean |
isObstacle()
true if the object should be considered an obstacle, false otherwise. |
boolean |
isPickupable()
true if the object can be picked up, false otherwise. |
boolean |
isPushable()
true if the object is pushable false otherwise. |
void |
pickUp(SimulatedObject o)
Try to pick up the object. |
void |
push(Vec2 d,
Vec2 v)
Try to push the object. |
void |
putDown(Vec2 p)
Try to put down the object. |
void |
quit()
Clean up. |
void |
receive(Message m)
Receive a message. |
void |
setID(int i)
Set the id of the object. |
void |
setTrailLength(int l)
Set the length of the trail (in movement steps). |
void |
setVisionClass(int v)
Change the way the object is perceived by vision hardware. |
void |
takeStep(long time_increment,
SimulatedObject[] all_objs)
Take a simulated step; |
Methods inherited from class java.lang.Object |
clone,
equals,
finalize,
getClass,
hashCode,
notify,
notifyAll,
toString,
wait,
wait,
wait |
Field Detail |
protected Vec2 start
protected Vec2 end
protected Vec2 center
protected double m
protected double b
protected double mrot
protected double RADIUS
public static final boolean DEBUG
Constructor Detail |
public LinearObstacleSim()
init(double, double, double, double, java.awt.Color, java.awt.Color, int, int, long)
Method Detail |
public void init(double x, double y, double t, double r, java.awt.Color f, java.awt.Color back, int v, int i, long s)
x
- x coordinate of first point.y
- y coordinate of first point.t
- direction to second point.r
- distance to second point.f
- the foreground color.b
- ignored.v
- the vision class.i
- the unique id.s
- random number seed.public void init(double x1, double y1, double x2, double y2, double r, java.awt.Color f, java.awt.Color back, int v, int i, long s)
x1
- x coordinate of first point.y1
- y coordinate of first point.x2
- x coordinate of second point.y2
- y coordinate of second point.r
- the radius (width).f
- the foreground color.b
- ignored.v
- the vision class.i
- the unique id.s
- random number seed.public void takeStep(long time_increment, SimulatedObject[] all_objs)
time_increment
- how much time has elapsed since
the last call.all_objects
- the other objects in the simulation.public boolean isObstacle()
public boolean isPushable()
public boolean isPickupable()
public Vec2 getPosition()
public Vec2 getClosestPoint(Vec2 from)
from
- the place from which the point is determined.public boolean checkCollision(Circle2 c)
c
- the circle which may be intersecting the current object.public boolean checkCollision(Polygon2 p)
p
- the polygon which may be intersecting the current object.public Vec2 getCenter(Vec2 from)
from
- the place from which the point is determined.public void push(Vec2 d, Vec2 v)
d
- the direction and distance of the push.v
- the velocity of the push.public void pickUp(SimulatedObject o)
o
- the object picking it up - this is used for
drawing purposes.public void receive(Message m)
m
- the message.public void putDown(Vec2 p)
p
- the location of deposit.public void setVisionClass(int v)
v
- the new vision class.public int getVisionClass()
v
- the new vision class.public void setID(int i)
id
- the new id.public int getID()
public void quit()
public void drawID(java.awt.Graphics g, int w, int h, double t, double b, double l, double r)
g
- graphics area to draw the object.w
- the width in pixels of g.h
- the height in pixels of g.t
- the y coordinate represented by the top boundary of
the drawing area.b
- the y coordinate represented by the bottom boundary of
the drawing area.l
- the x coordinate represented by the left boundary of
the drawing area.r
- the x coordinate represented by the right boundary of
the drawing area.public void drawIcon(java.awt.Graphics g, int w, int h, double t, double b, double l, double r)
g
- graphics area to draw the object.w
- the width in pixels of g.h
- the height in pixels of g.t
- the y coordinate represented by the top boundary of
the drawing area.b
- the y coordinate represented by the bottom boundary of
the drawing area.l
- the x coordinate represented by the left boundary of
the drawing area.r
- the x coordinate represented by the right boundary of
the drawing area.public void drawState(java.awt.Graphics g, int w, int h, double t, double b, double l, double r)
g
- graphics area to draw the object.w
- the width in pixels of g.h
- the height in pixels of g.t
- the y coordinate represented by the top boundary of
the drawing area.b
- the y coordinate represented by the bottom boundary of
the drawing area.l
- the x coordinate represented by the left boundary of
the drawing area.r
- the x coordinate represented by the right boundary of
the drawing area.public void setTrailLength(int l)
l
- int, the length of the trail.public void clearTrail()
public void drawTrail(java.awt.Graphics g, int w, int h, double t, double b, double l, double r)
g
- graphics area to draw the object.w
- the width in pixels of g.h
- the height in pixels of g.t
- the y coordinate represented by the top boundary of
the drawing area.b
- the y coordinate represented by the bottom boundary of
the drawing area.l
- the x coordinate represented by the left boundary of
the drawing area.r
- the x coordinate represented by the right boundary of
the drawing area.public void draw(java.awt.Graphics g, int w, int h, double t, double b, double l, double r)
g
- graphics area to draw the object.w
- the width in pixels of g.h
- the height in pixels of g.t
- the y coordinate represented by the top boundary of
the drawing area.b
- the y coordinate represented by the bottom boundary of
the drawing area.l
- the x coordinate represented by the left boundary of
the drawing area.r
- the x coordinate represented by the right boundary of
the drawing area.public void draw(Vec2 pos, java.awt.Graphics g, int w, int h, double t, double b, double l, double r)
p
- location to draw it at.g
- graphics area to draw the object.w
- the width in pixels of g.h
- the height in pixels of g.t
- the y coordinate represented by the top boundary of
the drawing area.b
- the y coordinate represented by the bottom boundary of
the drawing area.l
- the x coordinate represented by the left boundary of
the drawing area.r
- the x coordinate represented by the right boundary of
the drawing area.
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