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Worked out a design for the Cannonball Variable server client that I'm happy with. Ref#320

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This commit is contained in:
John M. Penn 2016-10-19 18:20:32 -05:00
parent 7d34272dce
commit 8f585baae2
1 changed files with 328 additions and 257 deletions
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585
trick_sims/Cannon/models/graphics/src/CannonDisplay.java
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@ -30,7 +30,7 @@ import javax.swing.event.ChangeListener;
* @author penn
*/
class ArenaMap extends JPanel {
class RangeView extends JPanel {
private int scale;
private Color skyColor;
@ -40,38 +40,42 @@ class ArenaMap extends JPanel {
private Color carriageColor;
private Color wheelColor;
private Color[] explosionColors;
int explosionColors_n;
private int explosionColors_n;
// Origin of world coordinates in jpanel coordinates.
int Orig_w_j_x;
int Orig_w_j_y;
private int worldOriginX;
private int worldOriginY;
int barrelAngle;
int muzzleVelocity;
double[] cannonBallPos;
private int barrelAngle;
private int muzzleSpeed;
private double[] cannonBallPos;
private double[] cannonBallVel;
double explosionTime;
double[] barrelPivotPos;
double[] explosionPos;
double[] wheelCenterPos;
double wheelHubRadius;
double cannonBallRadius;
private double explosionSize;
private double[] barrelPivotPos;
private double[] explosionPos;
private double[] wheelCenterPos;
private double wheelHubRadius;
private double cannonBallRadius;
double[] barrel_x, barrel_y;
int barrel_n;
private double[] barrel_x, barrel_y;
private int barrel_n;
double[] carriage_x, carriage_y;
int carriage_n;
private double[] carriage_x, carriage_y;
private int carriage_n;
double[] wheel_section_x, wheel_section_y;
int wheel_section_n;
private double[] wheel_section_x, wheel_section_y;
private int wheel_section_n;
double[] explosion_poly_x, explosion_poly_y;
int explosion_poly_n;
private double[] explosion_poly_x, explosion_poly_y;
private int explosion_poly_n;
int[] poly_x, poly_y;
private int[] workPolyX, workPolyY;
public ArenaMap( int mapScale) {
/**
* Class constructor.
*/
public RangeView( int mapScale) {
setScale(mapScale);
@ -90,85 +94,70 @@ class ArenaMap extends JPanel {
explosionColors_n = 4;
barrelAngle = 0;
muzzleVelocity = 0;
muzzleSpeed = 0;
explosionSize = 0.0;
explosionTime = 0.0;
cannonBallPos = new double[]
// { -4.00, 37.00};
{-0.1020, 0.9400};
cannonBallVel = new double[]
{0.0, 0.0};
barrelPivotPos = new double[]
// { -4.00, 37.00};
{-0.1020, 0.9400};
explosionPos = new double[]
{ 5.0800, 0.0000};
wheelCenterPos = new double[]
// { 0.00, 25.00};
{ 0.0000,0.6350,};
wheelHubRadius = 0.1524;
cannonBallRadius = 0.1524;
// Cannon barrel polygon
barrel_x = new double[]
//{ 50.00, 3.00,-19.00,-23.00,-25.00,-25.00,-25.00,-23.00,-19.00, 3.00,
// 50.00};
{ 1.2700, 0.0762,-0.4826,-0.5842,-0.6350,-0.6350,-0.6350,-0.5842,-0.4826, 0.0762,
1.2700};
barrel_y = new double[]
// { 4.00, 6.00, 6.00, 5.00, 2.00, 0.00, -2.00, -5.00, -6.00, -6.00,
// -4.00};
{ 0.1016, 0.1524, 0.1524, 0.1270, 0.0508, 0.0000,-0.0508,-0.1270,-0.1524,-0.1524,
-0.1016};
barrel_n = 11;
// Carriage polygon
carriage_x = new double[]
// {-49.00, 1.00, 0.00, 6.00, 8.00, 17.00, 14.00, 1.00, 2.00, 2.00,
// 0.00, -1.00, -2.00,-52.00,-55.00,-57.00,-58.00,-58.00,-57.00,-56.00};
{-1.2446, 0.0254, 0.0000, 0.1524, 0.2032, 0.4318, 0.3556, 0.0254, 0.0508, 0.0508,
0.0000,-0.0254,-0.0508,-1.3208,-1.3970,-1.4478,-1.4732,-1.4732,-1.4478,-1.4224};
carriage_y = new double[]
// {-37.00,-13.00,-10.00, -7.00,-10.00, -6.00, 2.00, 2.00, 0.00, -1.00,
// -2.00, -1.00, 0.00,-30.00,-30.00,-31.00,-32.00,-35.00,-36.00,-37.00};
{-0.9398,-0.3302,-0.2540,-0.1778,-0.2540,-0.1524, 0.0508, 0.0508, 0.0000,-0.0254,
-0.0508,-0.0254, 0.0000,-0.7620,-0.7620,-0.7874,-0.8128,-0.8890,-0.9144,-0.9398};
carriage_n = 20;
// Wheel Section polygon
wheel_section_x = new double[]
// { 1.00, 1.00, 5.69, 6.47, 3.26, 0.00, -3.26, -6.47, -5.69, -1.00,
// -1.00};
{ 0.0254, 0.0254, 0.1445, 0.1643, 0.0828, 0.0000,-0.0828,-0.1643,-0.1445,-0.0254,
-0.0254};
wheel_section_y = new double[]
// { 3.00, 22.00, 21.25, 24.15, 24.78, 25.00, 24.78, 24.15, 21.25, 22.00,
// 3.00};
{ 0.0762, 0.5588, 0.5398, 0.6134, 0.6294, 0.6350, 0.6294, 0.6134, 0.5398, 0.5588,
0.0762};
wheel_section_n = 11;
// Explosion polygon
explosion_poly_x = new double[]
// { 0.70, 0.97, 0.63, 0.78, 0.44, 0.43, 0.16, 0.00, -0.16, -0.43,
// -0.44, -0.78, -0.63, -0.97, -0.70, -0.97, -0.63, -0.78, -0.44, -0.43,
// -0.16, 0.00, 0.16, 0.43, 0.44, 0.78, 0.63, 0.97, 0.70};
{ 0.0178, 0.0246, 0.0160, 0.0198, 0.0112, 0.0109, 0.0041, 0.0000,-0.0041,-0.0109,
-0.0112,-0.0198,-0.0160,-0.0246,-0.0178,-0.0246,-0.0160,-0.0198,-0.0112,-0.0109,
-0.0041, 0.0000, 0.0041, 0.0109, 0.0112, 0.0198, 0.0160, 0.0246, 0.0178};
explosion_poly_y = new double[]
// { 0.00, 0.22, 0.30, 0.62, 0.55, 0.90, 0.68, 1.00, 0.68, 0.90,
// 0.55, 0.62, 0.30, 0.22, 0.00, -0.22, -0.30, -0.62, -0.55, -0.90,
// -0.68, -1.00, -0.68, -0.90, -0.55, -0.62, -0.30, -0.22, 0.00};
{ 0.0000, 0.0056, 0.0076, 0.0157, 0.0140, 0.0229, 0.0173, 0.0254, 0.0173, 0.0229,
0.0140, 0.0157, 0.0076, 0.0056, 0.0000,-0.0056,-0.0076,-0.0157,-0.0140,-0.0229,
-0.0173,-0.0254,-0.0173,-0.0229,-0.0140,-0.0157,-0.0076,-0.0056, 0.0000};
explosion_poly_n = 29;
poly_x = new int[30];
poly_y = new int[30];
}
public void initCannonballPos() {
cannonBallPos[0] = -0.1020;
cannonBallPos[1] = 0.9400;
workPolyX = new int[30];
workPolyY = new int[30];
}
/**
@param value angle in degrees
*/
public void setBarrelAngle(int value) {
barrelAngle = value;
repaint();
@ -178,19 +167,32 @@ class ArenaMap extends JPanel {
return barrelAngle;
}
public void setMuzzleVelocity(int value) {
muzzleVelocity = value;
public void setMuzzleSpeed(int value) {
muzzleSpeed = value;
repaint();
}
public int getMuzzleVelocity() {
return muzzleVelocity;
return muzzleSpeed;
}
public void setCannonBallPos(double x, double y) {
cannonBallPos[0] = x;
cannonBallPos[1] = y;
repaint();
}
public void setCannonBallVel(double vx, double vy) {
cannonBallVel[0] = vx;
cannonBallVel[1] = vy;
}
public void setExplosionSize(double size) {
explosionSize = size;
}
public void setExplosionPos(double x, double y) {
explosionPos[0] = x;
explosionPos[1] = y;
}
public void setScale (int mapScale) {
@ -228,105 +230,121 @@ class ArenaMap extends JPanel {
int width = getWidth();
int height = getHeight();
// NOTE: <Orig_w_j_x, Orig_w_j_y> is the orig of the world coordinate system expressed in jpanel coords.
// This origin tracks the position of the cannonball.
Orig_w_j_x = (width/2) - (int)(scale * cannonBallPos[0]);
Orig_w_j_y = getHeight()-20;
worldOriginX = (width/2) - (int)(scale * cannonBallPos[0]);
worldOriginY = (height/2) + (int)(scale * cannonBallPos[1]);
// Draw Sky
g2d.setPaint(skyColor);
g2d.fillRect(0, 0, width, Orig_w_j_y);
g2d.fillRect(0, 0, width, worldOriginY);
// |jpanel_x| = |origin_x| + scale * |1 0| * | cosa -sina| * |world_x|
// |jpanel_y| |origin_y| |0 -1| | sina cosa| |world_y|
// Draw Clouds
g2d.setPaint(Color.WHITE);
g2d.fillOval((int)(worldOriginX + scale * 500), (int)(worldOriginY - scale * 20), (int)(scale*20), (int)(scale*5));
g2d.fillOval((int)(worldOriginX + scale * 510), (int)(worldOriginY - scale * 22), (int)(scale*15), (int)(scale*5));
g2d.fillOval((int)(worldOriginX + scale * 200), (int)(worldOriginY - scale * 20), (int)(scale*20), (int)(scale*5));
g2d.fillOval((int)(worldOriginX + scale * 200), (int)(worldOriginY - scale * 22), (int)(scale*15), (int)(scale*5));
g2d.fillOval((int)(worldOriginX + scale * 0), (int)(worldOriginY - scale * 15), (int)(scale*10), (int)(scale*2));
// |jpanel_x| = |origin_x| + |scale 0 | * |cos(angle) -sin(angle)| * |world_x|
// |jpanel_y| |origin_y| | 0 -scale| |sin(angle) cos(angle)| |world_y|
// Draw cannon ball
g2d.setPaint(cannonBallColor);
int bx = (int)(Orig_w_j_x + scale * cannonBallPos[0]);
int by = (int)(Orig_w_j_y - scale * cannonBallPos[1]);
drawCenteredCircle(g2d, bx, by, (int)(scale * cannonBallRadius));
g2d.setPaint(cannonBallColor);
int bx = (int)(worldOriginX + scale * cannonBallPos[0]);
int by = (int)(worldOriginY - scale * cannonBallPos[1]);
drawCenteredCircle(g2d, bx, by, (int)(scale * cannonBallRadius));
double velMag = Math.sqrt(cannonBallVel[0]*cannonBallVel[0] + cannonBallPos[1]*cannonBallPos[1]);
if (velMag > 0.1) {
g2d.setPaint(Color.RED);
int vx = (int)(worldOriginX + scale * (cannonBallPos[0] - cannonBallVel[0]/velMag));
int vy = (int)(worldOriginY - scale * (cannonBallPos[1] - cannonBallVel[1]/velMag));
g2d.drawLine( bx, by, vx, vy);
}
// Draw cannon barrel
double angle = Math.toRadians(barrelAngle);
for (ii = 0; ii<barrel_n; ii++) {
poly_x[ii] = (int)(Orig_w_j_x + scale * ( Math.cos(angle) * barrel_x[ii] - Math.sin(angle) * barrel_y[ii] + barrelPivotPos[0]));
poly_y[ii] = (int)(Orig_w_j_y - scale * ( Math.sin(angle) * barrel_x[ii] + Math.cos(angle) * barrel_y[ii] + barrelPivotPos[1]));
for (ii = 0; ii < barrel_n; ii++) {
workPolyX[ii] = (int)(worldOriginX + scale *
( Math.cos(angle) * barrel_x[ii] - Math.sin(angle) * barrel_y[ii] + barrelPivotPos[0]));
workPolyY[ii] = (int)(worldOriginY - scale *
( Math.sin(angle) * barrel_x[ii] + Math.cos(angle) * barrel_y[ii] + barrelPivotPos[1]));
}
g2d.setPaint(barrelColor);
g2d.fillPolygon(poly_x, poly_y, barrel_n);
g2d.fillPolygon(workPolyX, workPolyY, barrel_n);
// Draw carriage
// Draw carriage.
angle = Math.toRadians(0);
for (ii = 0; ii<carriage_n; ii++) {
poly_x[ii] = (int)(Orig_w_j_x + scale * ( Math.cos(angle) * carriage_x[ii] - Math.sin(angle) * carriage_y[ii] + barrelPivotPos[0]));
poly_y[ii] = (int)(Orig_w_j_y - scale * ( Math.sin(angle) * carriage_x[ii] + Math.cos(angle) * carriage_y[ii] + barrelPivotPos[1]));
for (ii = 0; ii < carriage_n; ii++) {
workPolyX[ii] = (int)(worldOriginX + scale *
( Math.cos(angle) * carriage_x[ii] - Math.sin(angle) * carriage_y[ii] + barrelPivotPos[0]));
workPolyY[ii] = (int)(worldOriginY - scale *
( Math.sin(angle) * carriage_x[ii] + Math.cos(angle) * carriage_y[ii] + barrelPivotPos[1]));
}
g2d.setPaint(carriageColor);
g2d.fillPolygon(poly_x, poly_y, carriage_n);
g2d.fillPolygon(workPolyX, workPolyY, carriage_n);
// Draw wheel
for (jj = 0; jj<12; jj++) {
// Draw wheel.
for (jj = 0; jj < 12; jj++) {
angle = Math.toRadians(jj*30);
for (ii = 0; ii<wheel_section_n; ii++) {
poly_x[ii] = (int)(Orig_w_j_x + scale * ( Math.cos(angle) * wheel_section_x[ii] - Math.sin(angle) * wheel_section_y[ii] + wheelCenterPos[0]));
poly_y[ii] = (int)(Orig_w_j_y - scale * ( Math.sin(angle) * wheel_section_x[ii] + Math.cos(angle) * wheel_section_y[ii] + wheelCenterPos[1]));
for (ii = 0; ii < wheel_section_n; ii++) {
workPolyX[ii] = (int)(worldOriginX + scale *
( Math.cos(angle) * wheel_section_x[ii] - Math.sin(angle) * wheel_section_y[ii] + wheelCenterPos[0]));
workPolyY[ii] = (int)(worldOriginY - scale *
( Math.sin(angle) * wheel_section_x[ii] + Math.cos(angle) * wheel_section_y[ii] + wheelCenterPos[1]));
}
g2d.setPaint(wheelColor);
g2d.fillPolygon(poly_x, poly_y, wheel_section_n);
g2d.fillPolygon(workPolyX, workPolyY, wheel_section_n);
}
// Draw wheel hub
// Draw wheel hub.
g2d.setPaint(wheelColor);
int WheelCenter_x = (int)(Orig_w_j_x + scale * wheelCenterPos[0]);
int WheelCenter_y = (int)(Orig_w_j_y - scale * wheelCenterPos[1]);
int WheelCenter_x = (int)(worldOriginX + scale * wheelCenterPos[0]);
int WheelCenter_y = (int)(worldOriginY - scale * wheelCenterPos[1]);
drawCenteredCircle(g2d, WheelCenter_x, WheelCenter_y, (int)(scale * wheelHubRadius));
// Draw Explosion
if (explosionTime > 0.0) {
// Draw explosion.
if ( explosionSize > 0.0 ) {
for (jj = 0; jj < explosionColors_n ; jj ++) {
for (ii = 0; ii < explosion_poly_n ; ii ++) {
double ex = explosionTime * explosionTime * 5.0 * (explosionColors_n - jj) * explosion_poly_x[ii];
double ey = explosionTime * explosionTime * 5.0 * (explosionColors_n - jj) * explosion_poly_y[ii];
poly_x[ii] = (int)(Orig_w_j_x + scale * (ex + explosionPos[0] ));
poly_y[ii] = (int)(Orig_w_j_y - scale * (ey + explosionPos[1] ));
double ex = explosionSize * (explosionColors_n - jj) * explosion_poly_x[ii];
double ey = explosionSize * (explosionColors_n - jj) * explosion_poly_y[ii];
workPolyX[ii] = (int)(worldOriginX + scale * (ex + explosionPos[0] ));
workPolyY[ii] = (int)(worldOriginY - scale * (ey + explosionPos[1] ));
}
g2d.setPaint(explosionColors[jj]);
g2d.fillPolygon(poly_x, poly_y, explosion_poly_n);
g2d.fillPolygon(workPolyX, workPolyY, explosion_poly_n);
}
}
// Draw Ground
// Draw ground.
g2d.setPaint(groundColor);
g2d.fillRect(0, Orig_w_j_y, width, height);
g2d.fillRect(0, worldOriginY, width, height);
// Draw Range Markers
// Draw range markers.
int tickRange = 50;
if (scale >= 8) tickRange =20;
if (scale >= 16) tickRange =10;
if (scale >= 32) tickRange = 5;
if (scale >= 64) tickRange = 1;
if (scale >= 8) tickRange = 20;
if (scale >= 16) tickRange = 10;
if (scale >= 32) tickRange = 5;
if (scale >= 64) tickRange = 1;
double lower = -Orig_w_j_x / scale;
double upper = (width - Orig_w_j_x) / scale;
int LL = ((int)(lower/tickRange) + 1) * tickRange;
int UU = ((int)(upper/tickRange) + 1) * tickRange;
int lower = ((int)(( - worldOriginX)/(scale * tickRange)) + 1) * tickRange;
int upper = ((int)((width - worldOriginX)/(scale * tickRange)) + 1) * tickRange;
g2d.setPaint(Color.BLACK);
for (int kk = LL ; kk < UU ; kk += tickRange) {
int mx = (int)(Orig_w_j_x + scale * kk);
g2d.drawLine( mx, Orig_w_j_y, mx, Orig_w_j_y+20);
g2d.drawString ( String.format("%d",kk), mx, Orig_w_j_y+15);
for (ii = lower ; ii < upper ; ii += tickRange) {
int mx = (int)(worldOriginX + scale * ii);
g2d.drawLine( mx, worldOriginY, mx, worldOriginY + 20);
g2d.drawString ( String.format("%d",ii), mx, worldOriginY + 15);
}
g2d.drawString ( String.format("SCALE: %d",scale), 20,20);
g2d.drawString ( String.format("Cannon barrel angle: [%d]",barrelAngle), 20,40);
g2d.drawString ( String.format("Cannon muzzle velocity: [%d]",muzzleVelocity), 20,60);
g2d.drawString ( String.format("Cannonball Pos: [%.2f, %.2f]",cannonBallPos[0],cannonBallPos[1]), 20,80);
g2d.drawString ( String.format("SCALE: %d pixels/meter",scale), 20,20);
g2d.drawString ( String.format("Barrel angle: [%d]", barrelAngle), 20,40);
g2d.drawString ( String.format("Muzzle speed: [%d]", muzzleSpeed), 20,60);
g2d.drawString ( String.format("Cannonball Pos: [%.2f, %.2f]", cannonBallPos[0], cannonBallPos[1]), 20,80);
g2d.drawString ( String.format("Cannonball Vel: [%.2f, %.2f]", cannonBallVel[0], cannonBallVel[1]), 20,100);
}
@Override
@ -340,7 +358,7 @@ class ElevationPanel extends JPanel implements ChangeListener {
static final int ANGLE_MIN = 0;
static final int ANGLE_MAX = 90;
static final int ANGLE_INIT = 45;
static final int ANGLE_INIT = 30;
private CannonDisplay cannonDisplay;
private JSlider angleSlider ;
@ -365,6 +383,7 @@ class ElevationPanel extends JPanel implements ChangeListener {
}
@Override
public void stateChanged(ChangeEvent e) {
JSlider source = (JSlider)e.getSource();
if (!source.getValueIsAdjusting()) {
@ -407,10 +426,11 @@ class MuzzleVelPanel extends JPanel implements ChangeListener {
add(velSlider);
}
@Override
public void stateChanged(ChangeEvent e) {
JSlider source = (JSlider)e.getSource();
if (!source.getValueIsAdjusting()) {
cannonDisplay.setMuzzleVelocity( source.getValue() );
cannonDisplay.setMuzzleSpeed( source.getValue() );
}
}
@ -442,7 +462,7 @@ class ButtonPanel extends JPanel implements ActionListener {
fireButton.setToolTipText("Fire Cannon");
add(fireButton);
armButton = new JButton("ARM");
armButton = new JButton("RELOAD");
armButton.addActionListener(this);
armButton.setActionCommand("arm");
armButton.setToolTipText("Arm Cannon");
@ -484,13 +504,13 @@ class ButtonPanel extends JPanel implements ActionListener {
}
}
public void AcknowledgeArmed() {
public void resetArmCommand() {
armCommand = false;
armAcknowledged = true;
fireButton.setForeground(Color.red);
}
public void AcknowledgeFired() {
public void resetFireCommand() {
fireCommand = false;
fireButton.setForeground(Color.gray);
}
@ -504,10 +524,15 @@ class ButtonPanel extends JPanel implements ActionListener {
} // class ButtonPanel
class TrickSimMode {
public static final int INIT = 0;
public static final int FREEZE = 1;
public static final int RUN = 5;
}
public class CannonDisplay extends JFrame {
private ArenaMap arenaMap;
private RangeView rangeView;
private ElevationPanel elevPanel;
private MuzzleVelPanel velPanel;
private BufferedReader in;
@ -515,20 +540,19 @@ public class CannonDisplay extends JFrame {
private JPanel panelGroup0;
private JPanel panelGroup1;
private ButtonPanel buttonPanel;
private JButton b1, b2, b3, b4, b5;
public CannonDisplay(ArenaMap arena) {
public CannonDisplay(RangeView arena) {
setTitle("Cannon Range");
elevPanel = new ElevationPanel(this);
velPanel = new MuzzleVelPanel(this);
arenaMap = arena;
rangeView = arena;
panelGroup1 = new JPanel();
panelGroup1.setLayout(new BoxLayout(panelGroup1, BoxLayout.X_AXIS));
panelGroup1.add(elevPanel);
panelGroup1.add(velPanel);
panelGroup1.add(arenaMap);
panelGroup1.add(rangeView);
buttonPanel = new ButtonPanel(this);
@ -540,51 +564,62 @@ public class CannonDisplay extends JFrame {
setScale(32);
setBarrelAngle(30);
setMuzzleVelocity(500);
setMuzzleSpeed(50);
setCannonBallPos (-0.1020, 0.9400);
setSize(800, 500);
setLocationRelativeTo(null);
setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
}
public int getBarrelAngle() {
return arenaMap.getBarrelAngle();
return rangeView.getBarrelAngle();
}
public void setBarrelAngle(int value) {
arenaMap.setBarrelAngle(value);
rangeView.setBarrelAngle(value);
elevPanel.setValue(value);
}
public int getMuzzleVelocity() {
return arenaMap.getMuzzleVelocity();
return rangeView.getMuzzleVelocity();
}
public void setMuzzleVelocity(int value) {
arenaMap.setMuzzleVelocity(value);
public void setMuzzleSpeed(int value) {
rangeView.setMuzzleSpeed(value);
velPanel.setValue(value);
}
public void setCannonBallPos(double x, double y) {
arenaMap.setCannonBallPos(x,y);
rangeView.setCannonBallPos(x,y);
}
public void setCannonBallVel(double vx, double vy) {
rangeView.setCannonBallVel(vx,vy);
}
public void setExplosionSize(double size) {
rangeView.setExplosionSize(size);
}
public void setExplosionPos(double x, double y) {
rangeView.setExplosionPos(x,y);
}
public void setScale(int value) {
arenaMap.setScale(value);
rangeView.setScale(value);
}
public int getScale() {
return arenaMap.getScale();
return rangeView.getScale();
}
public void AcknowledgeArmed() {
buttonPanel.AcknowledgeArmed();
public void resetArmCommand() {
buttonPanel.resetArmCommand();
}
public void AcknowledgeFired() {
buttonPanel.AcknowledgeFired();
public void resetFireCommand() {
buttonPanel.resetFireCommand();
}
public boolean getArmCommand() {
@ -601,8 +636,8 @@ public class CannonDisplay extends JFrame {
out = new DataOutputStream(new BufferedOutputStream(socket.getOutputStream()));
}
public void drawArenaMap() {
arenaMap.repaint();
public void drawRangeView() {
rangeView.repaint();
}
private static void printHelpText() {
@ -613,11 +648,16 @@ public class CannonDisplay extends JFrame {
);
}
public enum ModelState { INACTIVE, READY, ACTIVE }
public static void main(String[] args) throws IOException, InterruptedException {
String host = "localHost";
int port = 0;
// ==========================================================
// Handle program arguments.
// ==========================================================
int ii = 0;
while (ii < args.length) {
switch (args[ii]) {
@ -633,144 +673,175 @@ public class CannonDisplay extends JFrame {
++ii;
}
// if (port == 0) {
// System.out.println("No variable server port specified.");
// printHelpText();
// System.exit(0);
// }
boolean go = true;
double dt = 0.100; // Time between updates (seconds).
double posx = 0.0;
double posy = 0.0;
double velx = 0.0;
double vely = 0.0;
double angle;
double speed;
boolean impact = false;
boolean prevImpact = false;
boolean armCommand;
boolean fireCommand;
int simMode = 0;
int exticks = 0;
double exTime = 0.0;
ModelState explosionModelState = ModelState.INACTIVE;
int mapScale = 32 ; // pixels per meter.
ArenaMap arenaMap = new ArenaMap( mapScale);
CannonDisplay evd = new CannonDisplay( arenaMap);
RangeView rangeView = new RangeView( mapScale);
CannonDisplay evd = new CannonDisplay( rangeView);
evd.setVisible(true);
// System.out.println("Connecting to: " + host + ":" + port);
// evd.connectToServer(host, port);
//
// evd.out.writeBytes("trick.var_set_client_tag(\"CannonDisplay\") \n");
// evd.out.flush();
//
// evd.out.writeBytes("trick.var_add(\"dyn.cannon.pos[0]\") \n" +
// "trick.var_add(\"dyn.cannon.pos[1]\") \n" +
// "trick.var_add(\"dyn.cannon.pos[1]\") \n");
// evd.out.flush();
//
// evd.out.writeBytes("trick.var_ascii() \n" +
// "trick.var_cycle(0.1) \n" +
// "trick.var_send() \n" );
// evd.out.flush();
evd.drawRangeView();
boolean fireCommand = false;
boolean armCommand = false;
boolean armed = false;
boolean fired = false;
boolean impact = false;
double impactTime = 0.0;
int ticks = 0;
int cTimeRate = 0;
double cTime = 0.0;
int cticks = 0;
int exTimeRate = 0; // 0 or 1
double exTime = 0.0;
int exticks = 0;
double posx = 0.0;
double posy = 0.0;
double posx0 = 0.0;
double posy0 = 0.0;
double exposx = 0.0;
double exposy = 0.0;
double speed = 0.0;
double angle = 0.0;
double elev = 0.0;
double simdt = 0.100;
if (port == 0) {
System.out.println("No variable server port specified.");
printHelpText();
System.exit(0);
}
evd.drawArenaMap();
// Connect to the Trick simulation's variable server
System.out.println("Connecting to: " + host + ":" + port);
evd.connectToServer(host, port);
evd.out.writeBytes("trick.var_set_client_tag(\"CannonDisplay\") \n");
evd.out.flush();
// Have the Variable Server send us the simulation mode ONCE.
evd.out.writeBytes( "trick.var_add(\"trick_sys.sched.mode\")\n" +
"trick.var_send() \n" +
"trick.var_clear() \n");
evd.out.flush();
// Read the response and extract the simulation mode.
try {
String line;
String field[];
line = evd.in.readLine();
field = line.split("\t");
simMode = Integer.parseInt( field[1]);
} catch (IOException | NullPointerException e ) {
go = false;
}
// If we're in FREEZE, make ready to fire.
if (simMode == TrickSimMode.FREEZE) {
evd.resetArmCommand();
}
// Configure the Variable Server to cyclically send us the following varibales.
// Tell the variable server:
// 1) We want the values of the following variables:
evd.out.writeBytes( "trick.var_add(\"dyn.cannon.impact\")\n" +
"trick.var_add(\"dyn.cannon.pos[0]\")\n" +
"trick.var_add(\"dyn.cannon.pos[1]\")\n" +
"trick.var_add(\"dyn.cannon.vel[0]\")\n" +
"trick.var_add(\"dyn.cannon.vel[1]\")\n" +
"trick.var_add(\"trick_sys.sched.mode\")\n");
// 2) We want the responses in ASCII:
evd.out.writeBytes("trick.var_ascii() \n");
// 3) We want values to be updated at the specified rate:
evd.out.writeBytes( String.format("trick.var_cycle(%.3f)\n", dt));
// 4) Start sending values as specified.
evd.out.writeBytes("trick.var_send() \n" );
evd.out.flush();
Boolean go = true;
while (go) {
Thread.sleep((int)(1000 * simdt));
ticks ++;
// Recieve and parse periodic data response from the variable server.
try {
String line;
String field[];
line = evd.in.readLine();
field = line.split("\t");
impact = ( Integer.parseInt( field[1]) != 0);
posx = Double.parseDouble( field[2]);
posy = Double.parseDouble( field[3]);
velx = Double.parseDouble( field[4]);
vely = Double.parseDouble( field[5]);
simMode = Integer.parseInt( field[6]);
} catch (IOException | NullPointerException e ) {
go = false;
}
// === DATA OUT TO THE SIM ===
if (simMode == TrickSimMode.RUN) {
evd.resetFireCommand();
}
// Update the display data.
evd.setCannonBallPos(posx, posy);
evd.setCannonBallVel(velx, vely);
// Get inputs from the GUI.
angle = evd.getBarrelAngle();
speed = evd.getMuzzleVelocity();
armCommand = evd.getArmCommand();
fireCommand = evd.getFireCommand();
// =============================
if (cTimeRate == 0) {
if (simMode == TrickSimMode.FREEZE) {
if (armCommand) {
posx0 = posx = -0.1020;
posy0 = posy = 0.9400;
armed = true;
fired = false;
evd.out.writeBytes( String.format("dyn.cannon.pos[0] = %.2f ;\n", -0.1020 ));
evd.out.writeBytes( String.format("dyn.cannon.pos[1] = %.2f ;\n", 0.9400 ));
evd.out.writeBytes( String.format("dyn.cannon.vel[0] = %.2f ;\n", 0.0000 ));
evd.out.writeBytes( String.format("dyn.cannon.vel[1] = %.2f ;\n", 0.0000 ));
evd.out.flush();
evd.resetArmCommand();
}
if (fireCommand && armed ) {
elev = angle * (3.14159/180.0);
cticks = 0;
cTimeRate = 1;
armed = false;
fired = true;
}
} else {
cticks ++;
cTime = cticks * cTimeRate * simdt;
posx = posx0 + cTime * speed * Math.cos(elev) ;
posy = posy0 + cTime * (speed * Math.sin(elev) + 0.5 * -9.81 * cTime);
if (posy < 0.0) {
impact = true;
impactTime = ((2 * speed * Math.sin(elev)) / 9.81);
posx = impactTime * speed * Math.cos(elev);
posy = 0;
cTimeRate = 0; //Stop Cannonball
if (fireCommand) {
evd.out.writeBytes( String.format("dyn.cannon.init_angle = %.2f ;\n", Math.toRadians(angle)));
evd.out.writeBytes( String.format("dyn.cannon.init_speed = %.2f;\n", speed ));
evd.out.writeBytes( String.format("dyn.cannon.pos0[0] = %.2f ;\n", -0.1020 ));
evd.out.writeBytes( String.format("dyn.cannon.pos0[1] = %.2f ;\n", 0.9400 ));
evd.out.writeBytes( String.format("dyn.cannon.time = %.2f ;\n", 0.0 ));
evd.out.writeBytes( String.format("trick.cannon_init( dyn.cannon );\n" ));
evd.out.writeBytes( String.format("trick.exec_run();\n" ));
evd.resetFireCommand();
evd.out.flush();
}
}
if (exTimeRate == 0) {
if (impact) {
impact = false;
exposx = posx;
exposy = posy;
// Start Explosion
exticks = 0;
exTimeRate = 1;
}
} else {
exticks ++;
exTime = exticks * exTimeRate * simdt;
if (exTime > 4.0) {
exTimeRate = 0;
exTime = 0.0;
if (simMode == TrickSimMode.RUN) {
if (impact && !prevImpact) {
evd.out.writeBytes( String.format("trick.exec_freeze();\n" ));
evd.out.flush();
}
}
System.out.print("cTime = " + String.format("%.5f",cTime) );
System.out.print(" exTime = " + String.format("%.5f",exTime) );
System.out.println(" ticks = " + String.format("%d",ticks) );
// ==== DATA IN FROM THE SIM ====
evd.setCannonBallPos(posx, posy);
if (armed) {
evd.AcknowledgeArmed();
// Explosion Model
exticks ++;
exTime = exticks * dt;
switch(explosionModelState) {
case INACTIVE:
if (impact && !prevImpact) { // Trigger on leading edge.
exticks = 0;
evd.setExplosionPos(posx, posy);
explosionModelState = ModelState.ACTIVE;
}
break;
case ACTIVE:
if (exTime > 4.0) {
evd.setExplosionSize(0.0);
explosionModelState = ModelState.INACTIVE;
} else if (exTime > 0.0) {
evd.setExplosionSize(exTime * exTime * 5.0);
} else {
evd.setExplosionSize(0.0);
}
break;
default:
break;
}
if (fired) {
evd.AcknowledgeFired();
}
arenaMap.explosionTime = exTime;
arenaMap.explosionPos[0] = exposx;
arenaMap.explosionPos[1] = exposy;
// =============================
prevImpact = impact;
// Update the scene.
evd.drawRangeView();
evd.drawArenaMap();
}
}
}
} // while
} // main
} // class