public double getDistance(Vector<VivaeObject> objects) {
GeneralPath thisPath = new GeneralPath(this.getTransformedShape());
PathIntersection pi = new PathIntersection();
Point2D.Double[] points;
double dist = ray_length;
double nd;
for (VivaeObject vivaeObject : objects) {
if (vivaeObject != this.owner) {
GeneralPath gp = new GeneralPath(vivaeObject.getTransformedShape());
points = pi.getIntersections(thisPath, gp);
for (Point2D.Double point : points) {
nd = pi.euclideanDistance(point.getX(), point.getY(), owner.getX(), owner.getY());
if (nd < dist) {
dist = nd;
}
// System.out.println(dist);
}
}
}
opacity = Math.max((float) (1d - (dist / ray_length)), opacity);
opacityOfRay = AlphaComposite.getInstance(AlphaComposite.SRC_OVER, opacity);
return 1d - (dist / ray_length);
}
/**
* Method intersects area of Sensor and all VivaeObjects and returns those that have non-zero
* intersection.
*
* @param objects Vector of VivaeObjects that are checked for collision with the body of Sensor.
* @return Vector of VivaeObjects that are in collision with the body of Sensor.
*/
public Vector<VivaeObject> getVivaesOnSight(Vector<VivaeObject> objects) {
Vector<VivaeObject> objectsOnSight = new Vector<VivaeObject>();
// for (VivaeObject vivaeObject : objects) {
GeneralPath thisPath = new GeneralPath(this.getTransformedShape());
PathIntersection pi = new PathIntersection();
Point2D.Double[] points;
for (VivaeObject vivaeObject : getCloseVivaes(objects)) {
if (vivaeObject != this.owner) {
GeneralPath gp = new GeneralPath(vivaeObject.getTransformedShape());
points = pi.getIntersections(thisPath, gp);
/*
for(Point2D.Double point : points){
System.out.println("x = "+point.getX()+" y = "+point.getY());
System.out.println("owner x = "+owner.getX()+" owner y = "+owner.getY());
System.out.println(pi.euclideanDistance(point.getX(),point.getY(),owner.getX(),owner.getY()));
}*/
if (points.length > 0) {
objectsOnSight.add(vivaeObject);
}
/*Area actArea = (Area) vivaeObject.getArea().clone();
actArea.intersect(this.getArea());
if (!actArea.isEmpty()) objectsOnSight.add(vivaeObject); */
// if(vivaeObject instanceof roboneat.RoboNeatRobot)System.out.println("robot
// seen by"+this.owner);
}
}
return objectsOnSight;
}
/**
* Method intersects area of Sensor and all VivaeObjects and returns those that have non-zero
* intersection.
*
* @param objects Vector of VivaeObjects that are checked for collision with the body of Sensor.
* @return Vector of VivaeObjects that are in collision with the body of Sensor.
*/
public Vector<VivaeObject> getVivaesOnSight(Vector<VivaeObject> objects) {
Vector<VivaeObject> objectsOnSight = new Vector<VivaeObject>();
// for (VivaeObject vivaeObject : objects) {
for (VivaeObject vivaeObject : getCloseVivaes(objects, owner.getArena().getWalls())) {
if (vivaeObject != this.owner) {
Area actArea = (Area) vivaeObject.getArea().clone();
actArea.intersect(this.getArea());
if (!actArea.isEmpty()) objectsOnSight.add(vivaeObject);
// if(vivaeObject instanceof roboneat.RoboNeatRobot)System.out.println("robot
// seen by"+this.owner);
}
}
return objectsOnSight;
}
/**
* This method removes all VivaeObjects that are further from owner of this Sensor than length of
* the Sensor is.
*
* @param objects Vector of all VivaeObjects that are checked for distance from owner of this
* Sensor.
* @param walls Vector of walls that can contain enclosing walls in Arena.
* @return new Vector of VivaeObjects that are close enough to be in range of Sensor.
*/
public Vector<VivaeObject> getCloseVivaes(Vector<VivaeObject> objects, Vector<Fixed> walls) {
Vector<VivaeObject> closeObjects = new Vector<VivaeObject>();
for (VivaeObject vivae : objects) {
if (vivae.getBoundingCircleRadius() + ray_length
> vivae.getBody().getPosition().distance(ownerBody.getPosition())) {
closeObjects.add(vivae);
}
}
if (!owner.getArena().isEnclosedWithWalls()) return closeObjects;
float xPos = owner.getBody().getPosition().getX();
float yPos = owner.getBody().getPosition().getY();
if (ray_length > yPos) closeObjects.add(walls.get(0));
else if (owner.getArena().screenHeight - ray_length < yPos) closeObjects.add(walls.get(1));
if (ray_length > xPos) closeObjects.add(walls.get(3));
else if (owner.getArena().screenWidth - ray_length < xPos) closeObjects.add(walls.get(2));
return closeObjects;
}
@Override
/** Paints up the arena and all the surfaces and objects inside using DoubleBuffering. */
public void paint(Graphics g) {
if (offscreen == null) {
return;
}
bufferGraphics.setColor(Color.WHITE);
bufferGraphics.fillRect(this.getX(), this.getY(), screenWidth, screenHeight);
for (Surface vivaeObject : surfaces) {
vivaeObject.paintComponent(bufferGraphics);
}
for (Passive vivaeObject : getPassives()) {
vivaeObject.paintComponent(bufferGraphics, isObjectsOnSightBlinking);
}
for (VivaeObject vivaeObject : getPaintable()) {
vivaeObject.paintComponent(bufferGraphics, isObjectsOnSightBlinking);
}
for (Active active : actives) {
active.paintComponent(bufferGraphics, isObjectsOnSightBlinking);
}
g.drawImage(offscreen, 0, 0, this);
}
public Surface getSurfaceUnderVivaeObject(VivaeObject actor) {
Vector<Surface> surfacesActorIsOn = new Vector<Surface>();
Surface srfc = null;
for (Surface surface : surfaces) {
srfc = surface;
Area actArea = actor.getArea();
actArea.intersect(srfc.getArea());
if (!actArea.isEmpty()) {
surfacesActorIsOn.add(srfc);
}
}
if (surfacesActorIsOn.isEmpty()) {
return null;
}
srfc = surfacesActorIsOn.get(surfacesActorIsOn.size() - 1);
return srfc;
}
/**
* Returns a coefficient of the surface the VivaeObject is on or 0 if there is no surface.
*
* @param actor
*/
public float getFrictionOfSurface(VivaeObject actor) {
Vector<Surface> surfacesActorIsOn = new Vector<Surface>();
Surface srfc;
for (Surface surface : surfaces) {
srfc = surface;
Area actArea = actor.getArea();
actArea.intersect(srfc.getArea());
if (!actArea.isEmpty()) {
surfacesActorIsOn.add(srfc);
}
}
if (surfacesActorIsOn.isEmpty()) {
return 0f;
}
srfc = surfacesActorIsOn.get(surfacesActorIsOn.size() - 1);
return srfc.getFriction();
}
/**
* Returns a coefficient of the surface the VivaeObject is on or 0 if there is no surface.
*
* @param actor
*/
public float getFrictionOfSurface(VivaeObject actor) {
ArrayList<Surface> surfacesActorIsOn = new ArrayList<Surface>();
Surface srfc;
Area actArea = actor.getArea();
for (Surface surface : surfaces) {
srfc = surface;
Area actor2intersect = (Area) actArea.clone();
actor2intersect.intersect(srfc.getArea());
if (!actor2intersect.isEmpty()) {
surfacesActorIsOn.add(srfc);
}
}
if (surfacesActorIsOn.isEmpty()) {
return 0f;
}
srfc = surfacesActorIsOn.get(surfacesActorIsOn.size() - 1);
float res = srfc.getFriction();
// System.out.println("Surface = " + srfc.getClass().toString() + " has friction " +
// res);
return res;
}