/**
* В Robocode немного извращённые углы - 0 смотрит на север и далее по часовой стрелке: 90 -
* восток, 180 - юг, 270 - запад, 360 - север.
*
* <p>Из-за этого приходится писать собственный метод вычисления угла между двумя точками. Вообще
* говоря, математика никогда не была моим коньком, поэтому, возможно, существует лучшее решение
*/
private static double angleTo(double baseX, double baseY, double x, double y) {
double theta = Math.asin((y - baseY) / Point2D.distance(x, y, baseX, baseY)) - Math.PI / 2;
if (x >= baseX && theta < 0) {
theta = -theta;
}
return (theta %= Math.PI * 2) >= 0 ? theta : (theta + Math.PI * 2);
}
// ---------------------------------------------------------------------------
private String Calculate1(String oper, String str1) throws Exception {
double n1 = Values.StringToDouble(str1);
double val = 0;
if (oper.equalsIgnoreCase("SEN")) val = java.lang.Math.sin(n1);
else if (oper.equalsIgnoreCase("COS")) val = java.lang.Math.cos(n1);
else if (oper.equalsIgnoreCase("TAN")) val = java.lang.Math.tan(n1);
else if (oper.equalsIgnoreCase("CTG")) val = 1.0 / java.lang.Math.tan(n1);
else if (oper.equalsIgnoreCase("ASEN")) val = java.lang.Math.asin(n1);
else if (oper.equalsIgnoreCase("ACOS")) val = java.lang.Math.acos(n1);
else if (oper.equalsIgnoreCase("ATAN")) val = java.lang.Math.atan(n1);
else if (oper.equalsIgnoreCase("ACTG")) val = 1.0 / java.lang.Math.atan(n1);
else if (oper.equalsIgnoreCase("SENH")) val = java.lang.Math.sinh(n1);
else if (oper.equalsIgnoreCase("COSH")) val = java.lang.Math.cosh(n1);
else if (oper.equalsIgnoreCase("TANH")) val = java.lang.Math.tanh(n1);
else if (oper.equalsIgnoreCase("CTGH")) val = 1.0 / java.lang.Math.tanh(n1);
else if (oper.equalsIgnoreCase("EXP")) val = java.lang.Math.exp(n1);
// valor absoluto de inteiros s�o inteiros
else if (oper.equalsIgnoreCase("ABS")) {
val = java.lang.Math.abs(n1);
if (Values.IsInteger(str1)) return Values.IntegerToString(val);
} else if (oper.equalsIgnoreCase("RAIZ")) val = java.lang.Math.sqrt(n1);
else if (oper.equalsIgnoreCase("LOG")) val = java.lang.Math.log10(n1);
else if (oper.equalsIgnoreCase("LN")) val = java.lang.Math.log(n1);
// parte inteira do numeros
else if (oper.equalsIgnoreCase("INT")) {
return Values.IntegerToString(n1);
}
// parte real
else if (oper.equalsIgnoreCase("FRAC")) {
String num = Values.DoubleToString(n1);
return num.substring(num.indexOf('.') + 1);
}
// parte real
else if (oper.equalsIgnoreCase("ARRED")) {
double vm = java.lang.Math.ceil(n1);
if (n1 - vm >= 0.5) return Values.IntegerToString((int) n1 + 1);
return Values.IntegerToString((int) n1);
} else throw new Exception("ERRO fun��o Desconhecida 1 [" + oper + "]");
return Values.DoubleToString(val);
}
void apply_trackball(double[] m0, double[] m1) {
final double tbsize = 0.8;
final double r2 = tbsize * tbsize / 2.0;
double d1 = m0[0] * m0[0] + m0[1] * m0[1];
double d2 = m1[0] * m1[0] + m1[1] * m1[1];
double sp1[] = {
m0[0], m0[1], d1 < tbsize ? Math.sqrt(2.0 * tbsize - d1) : tbsize / Math.sqrt(d1)
};
double sp2[] = {
m1[0], m1[1], d2 < tbsize ? Math.sqrt(2.0 * tbsize - d2) : tbsize / Math.sqrt(d2)
};
double axis[] = {
sp2[1] * sp1[2] - sp2[2] * sp1[1],
sp2[2] * sp1[0] - sp2[0] * sp1[2],
sp2[0] * sp1[1] - sp2[1] * sp1[0]
};
double saxis[] = {axis[0], axis[1], axis[2]};
normalize(axis);
rotate_vq(axis, pCurr.r);
sp2[0] -= sp1[0];
sp2[1] -= sp1[1];
sp2[2] -= sp1[2];
double angle = Math.sqrt(sp2[0] * sp2[0] + sp2[1] * sp2[1] + sp2[2] * sp2[2]) / tbsize;
if (angle > 1.0) angle = 1.0;
if (angle < -1.0) angle = -1.0;
angle = Math.asin(angle);
final double ch = Math.cos(0.5 * angle);
final double sh = Math.sin(0.5 * angle);
double qr[] = {axis[0] * sh, axis[1] * sh, axis[2] * sh, ch};
rotate_qq(pCurr.r, qr);
}
/**
* Calculates the length of a given day. Uses the Calendar object to pass in the target date. The
* hour, if not specified in the Calendar object, will default to 12.00 NOON. We need to convert
* the dates between Julian & Gregorian and hour of the day impacts the generated Julian Day. Ref:
* http://users.electromagnetic.net/bu/astro/sunrise-set.php
*
* @param cal - Gregorian calendar day for which the day length is to be calculated.
* @param location - a lat/long position for which the DayLength is to be calculated.
* @return - A DayLength object with with the Sunrise and Sunset for the given day.
*/
public DayLength getLengthOfDay(Calendar cal, IGeoLocation location) {
double latitudeNorth = location.getLatitude().getDegrees();
double longitudeWest = location.getLatitude().getDegrees();
latitudeNorth =
location.getLatitude().getOrientation() == GeoOrientation.NORTH
? latitudeNorth
: latitudeNorth * -1; // for degrees to the south, inverse sign.
longitudeWest =
location.getLongitude().getOrientation() == GeoOrientation.WEST
? longitudeWest
: longitudeWest * -1; // for degrees to the east, inverse sign.
Calendar gregorianDate = makeDefensiveCopy(cal);
double julianDay = Calculations.toJulianValue(gregorianDate);
long julianCycle = round((julianDay - JAN012000 - CYCLE_CONST) - (longitudeWest / 360));
double approxSolarNoon = JAN012000 + CYCLE_CONST + longitudeWest / 360 + julianCycle;
double meanSolarAnomaly = (357.5291 + 0.98560028 * (approxSolarNoon - JAN012000)) % 360;
double equationOfCenter =
(1.9148 * sin(meanSolarAnomaly))
+ (0.0200 * sin(2 * meanSolarAnomaly))
+ (0.0003 * sin(3 * meanSolarAnomaly));
double longitudeOfSun = (meanSolarAnomaly + 102.9372 + equationOfCenter + 180) % 360;
double julianSolarNoon =
approxSolarNoon + (0.0053 * sin(meanSolarAnomaly)) - (0.0069 * sin(2 * longitudeOfSun));
double sunDeclination = Math.asin(sin(longitudeOfSun) * sin(23.45));
double hourAngle =
Math.acos(
(sin(-0.83) - sin(latitudeNorth) * sin(sunDeclination))
/ (cos(latitudeNorth) * cos(sunDeclination)));
approxSolarNoon = JAN012000 + CYCLE_CONST + ((hourAngle + longitudeWest) / 360) + julianCycle;
double julianSunSet =
approxSolarNoon + (0.0053 * sin(meanSolarAnomaly)) - (0.0069 * sin(2 * longitudeOfSun));
double julianRise = julianSolarNoon - (julianSunSet - julianSolarNoon);
assert julianSunSet > julianRise
: "The sunset value for " + julianDay + " is higher than the sunrise value";
return new DayLength(julianRise, julianSunSet);
}
/* Returns the arc sine of an angle, in the range of -pi/2 through pi/2.
*/
public static SchemaTypeNumber asin(SchemaTypeNumber value) {
switch (value.numericType()) {
case SchemaTypeNumber.NUMERIC_VALUE_INT:
return new SchemaInt((int) java.lang.Math.asin(value.doubleValue()));
case SchemaTypeNumber.NUMERIC_VALUE_LONG:
return new SchemaLong((long) java.lang.Math.asin(value.doubleValue()));
case SchemaTypeNumber.NUMERIC_VALUE_BIGINTEGER:
return new SchemaInteger(
(long) java.lang.Math.asin(value.doubleValue())); // note: possible loss of precision
case SchemaTypeNumber.NUMERIC_VALUE_FLOAT:
return new SchemaFloat((float) java.lang.Math.asin(value.doubleValue()));
case SchemaTypeNumber.NUMERIC_VALUE_DOUBLE:
return new SchemaDouble(java.lang.Math.asin(value.doubleValue()));
}
return new SchemaDecimal(java.lang.Math.asin(value.doubleValue()));
}
public double pobierzKąt() {
return java.lang.Math.asin(vy / sqrt(vy * vy + vx * vx));
}
public void setFinalOrientations() {
// blah blah blah.
rightUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightLowerFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightLowerFinalOrient.rotateX(0.5 * java.lang.Math.PI);
rightFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightFootFinalOrient.rotateX(0.5 * java.lang.Math.PI);
if (KneelAnimation.this.oneKnee.booleanValue()) {
double lengthSupportLeg = 0.0;
if ((rightLower == null)) {
leftUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftUpperFinalOrient.rotateX(0.25 * java.lang.Math.PI);
leftFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftFootFinalOrient.rotateX(-0.25 * java.lang.Math.PI);
rightUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightUpperFinalOrient.rotateX(-0.25 * java.lang.Math.PI);
rightFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightFootFinalOrient.rotateX(0.25 * java.lang.Math.PI);
}
if ((rightUpper != null) && (rightLower != null)) {
Vector3 posLower = rightLower.getPosition(rightUpper);
edu.cmu.cs.stage3.math.Box boxLower = rightLower.getBoundingBox(rightLower);
lengthSupportLeg =
java.lang.Math.abs(posLower.y) + java.lang.Math.abs(boxLower.getMinimum().z);
double lengthLowerLeg = 0.0;
if (leftFoot != null)
lengthLowerLeg =
java.lang.Math.abs(leftFoot.getPosition(leftLower).y)
+ java.lang.Math.abs(leftFoot.getBoundingBox(leftFoot).getMinimum().z);
else
lengthLowerLeg = java.lang.Math.abs(leftLower.getBoundingBox(leftLower).getMinimum().y);
double diff = lengthSupportLeg - lengthLowerLeg;
double angle =
java.lang.Math.asin(java.lang.Math.abs(diff) / java.lang.Math.abs(posLower.y));
if (lengthSupportLeg * 2.0 < lengthLowerLeg) {
leftUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftLowerFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftLowerFinalOrient.rotateX(0.25 * java.lang.Math.PI);
leftFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftFootFinalOrient.rotateX(-0.25 * java.lang.Math.PI);
rightUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightLowerFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightLowerFinalOrient.rotateX(-0.25 * java.lang.Math.PI);
rightFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightFootFinalOrient.rotateX(0.25 * java.lang.Math.PI);
} else if (diff < 0) {
leftUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftUpperFinalOrient.rotateX(-0.5 * java.lang.Math.PI - angle);
leftLowerFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftLowerFinalOrient.rotateX(0.5 * java.lang.Math.PI + angle);
leftFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
} else {
leftUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftUpperFinalOrient.rotateX(-0.5 * java.lang.Math.PI + angle);
leftLowerFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftLowerFinalOrient.rotateX(0.5 * java.lang.Math.PI - angle);
leftFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
}
}
} else {
if ((rightLower == null)) {
leftUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftUpperFinalOrient.rotateX(0.5 * java.lang.Math.PI);
leftFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftFootFinalOrient.rotateX(0.5 * java.lang.Math.PI);
rightUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightUpperFinalOrient.rotateX(0.5 * java.lang.Math.PI);
rightFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightFootFinalOrient.rotateX(0.5 * java.lang.Math.PI);
} else {
leftUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftLowerFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftLowerFinalOrient.rotateX(0.5 * java.lang.Math.PI);
leftFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftFootFinalOrient.rotateX(0.5 * java.lang.Math.PI);
}
}
}
/** Returns the arc sine of the value at index location 0. */
public double of(double[] d, int numParam) {
return java.lang.Math.asin(d[0]);
}