public double angle(Coord o) {
Coord c = o.add(this.inv());
if (c.x == 0) {
if (c.y < 0) return (-PI / 2);
else return (PI / 2);
} else {
if (c.x < 0) {
if (c.y < 0) return (-PI + Math.atan((double) c.y / (double) c.x));
else return (PI + Math.atan((double) c.y / (double) c.x));
} else {
return (Math.atan((double) c.y / (double) c.x));
}
}
}
@Test
public void atanSafe() {
assertEquals(Math.PI / 2.0, UtilAngle.atanSafe(0.0, 0.0), 1e-8);
assertEquals(Math.PI / 2.0, UtilAngle.atanSafe(1.0, 0.0), 1e-8);
assertEquals(-Math.PI / 2.0, UtilAngle.atanSafe(-1.0, 0.0), 1e-8);
assertEquals(Math.atan(1), UtilAngle.atanSafe(1.0, 1.0), 1e-8);
}
// ---------------------------------------------------------------------------
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);
}
public float xyangle(Coord3f o) {
Coord3f c = o.sub(this);
if (c.x == 0) {
if (c.y < 0) {
return ((float) -PI / 2);
} else {
return ((float) PI / 2);
}
} else {
if (c.x < 0) {
if (c.y < 0) {
return ((float) (-PI + Math.atan(c.y / c.x)));
} else {
return ((float) (PI + Math.atan(c.y / c.x)));
}
} else {
return ((float) Math.atan(c.y / c.x));
}
}
}
/**
* Returns the heading, in radians, that you have to use to get from this lat/lon to another.
*
* @param other the "destination" position
* @return heading
*/
public double heading(LatLon other) {
double rv;
if (other.lat() == lat()) {
rv = (other.lon() > lon() ? Math.PI / 2 : Math.PI * 3 / 2);
} else {
rv = Math.atan((other.lon() - lon()) / (other.lat() - lat()));
if (rv < 0) {
rv += Math.PI;
}
if (other.lon() < lon()) {
rv += Math.PI;
}
}
return rv;
}
/* Returns the arc tangent of an angle, in the range of -pi/2 through pi/2.
*/
public static SchemaTypeNumber atan(SchemaTypeNumber value) {
switch (value.numericType()) {
case SchemaTypeNumber.NUMERIC_VALUE_INT:
return new SchemaInt((int) java.lang.Math.atan(value.doubleValue()));
case SchemaTypeNumber.NUMERIC_VALUE_LONG:
return new SchemaLong((long) java.lang.Math.atan(value.doubleValue()));
case SchemaTypeNumber.NUMERIC_VALUE_BIGINTEGER:
return new SchemaInteger(
(long) java.lang.Math.atan(value.doubleValue())); // note: possible loss of precision
case SchemaTypeNumber.NUMERIC_VALUE_FLOAT:
return new SchemaFloat((float) java.lang.Math.atan(value.doubleValue()));
case SchemaTypeNumber.NUMERIC_VALUE_DOUBLE:
return new SchemaDouble(java.lang.Math.atan(value.doubleValue()));
}
return new SchemaDecimal(java.lang.Math.atan(value.doubleValue()));
}
/** onScannedRobot: What to do when you see another robot */
public void onScannedRobot(ScannedRobotEvent e) {
System.out.println("START at : " + getTime() + " onScannedRobot----------------------------");
String nnn = e.getName();
System.out.println("scan " + nnn);
double eneX =
getX() + Math.sin(e.getBearingRadians() + Math.toRadians(getHeading())) * e.getDistance();
double eneY =
getY() + Math.cos(e.getBearingRadians() + Math.toRadians(getHeading())) * e.getDistance();
Enemy_info enem = null;
if (!isTeammate(nnn)) {
// 味方への情報送信
try {
broadcastMessage(
nnn
+ ", "
+ e.getBearing()
+ ", "
+ e.getBearingRadians()
+ ", "
+ e.getDistance()
+ ", "
+ e.getEnergy()
+ ", "
+ e.getHeading()
+ ", "
+ e.getHeadingRadians()
+ ", "
+ e.getVelocity()
+ ", "
+ eneX
+ ", "
+ eneY);
} catch (IOException ignored) {
}
// スキャンした車両がLocal敵リストにいるかどうかのフラグ
boolean flag = false;
System.out.println("send scanned info");
// スキャンした敵がLocal敵リストの中に存在するか
for (Enemy_info temp : enes) {
if (nnn.equals(temp.get_en_name())) {
flag = true;
enem = temp;
// Local敵リストのアップデート
temp.updateInformation(
e.getBearing(),
e.getBearingRadians(),
e.getDistance(),
e.getEnergy(),
e.getHeading(),
e.getHeadingRadians(),
e.getVelocity(),
eneX,
eneY);
System.out.println(" update scanned Info");
}
}
// スキャンした敵がLocal敵リストの中に存在しない場合
if (!flag) {
// Local敵リストに新規追加
enem =
new Enemy_info(
nnn,
e.getBearing(),
e.getBearingRadians(),
e.getDistance(),
e.getEnergy(),
e.getHeading(),
e.getHeadingRadians(),
e.getVelocity(),
eneX,
eneY);
enes.add(enem);
System.out.println(" add scanned info");
}
if (enemy_detected == false) {
// 共通の敵が設定されていない場合
enemy_detected = true;
target_enemy = enem;
try {
broadcastMessage("Kill , " + target_enemy.get_en_name() + ", !!");
} catch (IOException ignored) {
}
}
if (enemy_detected == true) {
try {
double enemyX = target_enemy.get_en_expX();
double enemyY = target_enemy.get_en_expY();
setTurnRadarLeftRadians(getRadarTurnRemainingRadians());
System.out.println("abs : eX " + enemyX + " : " + "eY " + enemyY);
// 共通の敵が設定されている場合
double enemyBearing = Math.atan((enemyX - getX()) / (enemyY - getY()));
// if(enemyBearing<0){
// System.out.println("change");
// enemyBearing = Math.PI*2 + enemyBearing;
// }else if (enemyBearing < Math.PI){
// }
// System.out.println("atan " + Math.atan((eneY-getY())/(eneX-getX())));
// System.out.println("atan1 " + Math.atan((eneX-getX())/(eneY-getY())));
// System.out.println("trueeee " + (e.getBearingRadians() + this.getHeadingRadians()));
System.out.println(
"enerad"
+ enemyBearing
+ " ?= "
+ "enemyBearing "
+ (this.getHeadingRadians() + e.getBearingRadians()));
System.out.println(enemyBearing + Math.PI);
double enemyHeading = target_enemy.get_en_heading(); // 敵の向き
System.out.println("enemy heading:" + enemyHeading);
// double enemyBearing = this.getHeadingRadians() +
// target_enemy.get_en_bearingRadians();// 自分と敵の角度
// double enemyX = target_enemy.get_en_distance() * Math.sin(enemyBearing);
// double enemyY = target_enemy.get_en_distance() * Math.cos(enemyBearing);
enemyX = enemyX - getX();
enemyY = enemyY - getY();
System.out.println("Relative : eX " + enemyX + " : " + "eY " + enemyY);
double battlefieldWidh = getBattleFieldWidth(); // フィールド幅
double battlefieldHeight = getBattleFieldHeight(); // フィールド高さ
boolean isHeadingToCenter = (int) enemyHeading % 90 == 0; // 中心を向いている
boolean isOnWall =
nearlyEquals(enemyX, 18)
|| nearlyEquals(enemyX + 18, battlefieldWidh)
|| nearlyEquals(enemyY, 18)
|| nearlyEquals(enemyY + 18, battlefieldHeight); // 壁に張り付いている
// 中心を向いている&&壁際にいる(=Walls)なら射撃
if (isHeadingToCenter && isOnWall) {
System.out.println("Walls!!");
}
double dis = 0;
double heading = lastEnemyHeading;
do {
dis += Rules.getBulletSpeed(power);
heading += target_enemy.get_en_headingRadians() - lastEnemyHeading;
enemyX += target_enemy.get_en_velocity() * Math.sin(heading);
enemyY += target_enemy.get_en_velocity() * Math.cos(heading);
} while (dis < Point2D.distance(0, 0, enemyX, enemyY)); //
// 相対角度に変換した上で砲塔の向きを変える
setTurnGunRightRadians(
Utils.normalRelativeAngle(Math.atan2(enemyX, enemyY) - getGunHeadingRadians()));
setFire(power);
// lastEnemyHeading = e.getHeadingRadians();
lastEnemyHeading = target_enemy.get_en_headingRadians();
System.out.println("lastEnemyHeading " + e.getHeadingRadians());
System.out.println(lastEnemyHeading);
// 敵の居る方向へターンする
// setTurnRightRadians(e.getBearingRadians());
setTurnRightRadians(enemyBearing - this.getHeadingRadians());
System.out.println("setTurnRightRadians " + e.getBearingRadians());
System.out.println(enemyBearing - this.getHeadingRadians());
// 前進する
setAhead(moveAmount);
} catch (NullPointerException ee) {
System.out.println("NullPointerException");
System.out.println(target_enemy);
}
}
}
System.out.println("enemy_detected = " + enemy_detected);
System.out.println("target is " + target_enemy.get_en_name());
System.out.println(target_enemy.get_en_expX() + " " + target_enemy.get_en_expY());
System.out.println("END at : " + getTime() + " onScannedRobot----------------------------");
}
private int[] Translated_Point(double constant, int[] arrow_x, int[] arrow_y, double gradient) {
double[] translated = new double[2];
double[][] trans_matrix = new double[2][2];
double ang_rot;
double[] point2_temp = new double[4];
int cnt, row, col;
int[] pt = new int[2];
translated[0] = 0.00;
translated[1] = 0.00;
trans_matrix[0][0] = 0.00;
trans_matrix[0][1] = 0.00;
trans_matrix[1][0] = 0.00;
trans_matrix[1][1] = 0.00;
point2_temp[0] = 0.00;
point2_temp[1] = 0.00;
point2_temp[2] = 0.00;
point2_temp[3] = 0.00;
cnt = 0;
row = 0;
col = 0;
ang_rot = 0.00;
// translate the line to the origin
// thus the translated points to be found are:
translated[0] = arrow_x[1];
if (constant < 0) {
translated[1] = arrow_y[1] + Math.abs(constant);
} else {
translated[1] = arrow_y[1] - Math.abs(constant);
}
// find the angle of rotation
ang_rot = Math.atan(gradient);
if ((end_x - start_x) == 0) {
if (arrow_x[0] > 0) {
translated[0] = arrow_x[1] - arrow_x[0];
} else {
translated[0] = arrow_x[1] + arrow_x[0];
}
translated[1] = arrow_y[1];
trans_matrix[0][0] = -1;
trans_matrix[0][1] = 0;
trans_matrix[1][0] = 0;
trans_matrix[1][1] = 1;
} else {
// declare the transformation matrix
trans_matrix[0][0] = Math.cos(2 * ang_rot);
trans_matrix[0][1] = Math.sin(2 * ang_rot);
trans_matrix[1][0] = Math.sin(2 * ang_rot);
trans_matrix[1][1] = Math.cos(2 * ang_rot) * (-1);
}
// multiply the transformation matrix with the point
// store it in an array
for (row = 0; row < 2; row++) {
for (col = 0; col < 2; col++) {
point2_temp[cnt] = trans_matrix[row][col] * translated[col];
cnt++;
}
}
if ((end_x - start_x) == 0) {
if (arrow_x[0] > 0) {
arrow_x[2] = (int) Math.round(point2_temp[0] + point2_temp[1] + arrow_x[0]);
} else {
arrow_x[2] = (int) Math.round(point2_temp[2] + point2_temp[1] - arrow_x[0]);
}
arrow_y[2] = (int) Math.round(point2_temp[2] + point2_temp[3]);
} else {
// from the array, get the reflected point
arrow_x[2] = (int) Math.round(point2_temp[0] + point2_temp[1]);
if (constant < 0) {
arrow_y[2] = (int) Math.round(point2_temp[2] + point2_temp[3] - Math.abs(constant));
} else {
arrow_y[2] = (int) Math.round(point2_temp[2] + point2_temp[3] + Math.abs(constant));
}
}
pt[0] = arrow_x[2];
pt[1] = arrow_y[2];
return pt;
}
public void find() {
t = Math.atan((x - xc) / (y - yc));
r = distPts2D(x, y, xc, yc);
}
public static void main(String[] args) {
double deg = 30;
double rad = Math.toRadians(deg);
double ans = Math.atan(rad);
System.out.println(ans);
}
