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Task1 #37

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e5eb0df
Update MainApplicationFrame.java
GuldenaKuantaeva Apr 29, 2023
878db4d
Update MainApplicationFrame.java
GuldenaKuantaeva Apr 29, 2023
b68e6af
Update MainApplicationFrame.java
GuldenaKuantaeva Apr 29, 2023
c4539f0
Create pom.xml
GuldenaKuantaeva Apr 29, 2023
3fc5dc4
Add files via upload
GuldenaKuantaeva Apr 29, 2023
a930ff0
Update GameVisualizer.java
GuldenaKuantaeva Apr 29, 2023
6944462
Update GameWindow.java
GuldenaKuantaeva Apr 29, 2023
fa261a3
Update MainApplicationFrame.java
GuldenaKuantaeva Apr 29, 2023
f6f5c5b
Add files via upload
GuldenaKuantaeva Apr 29, 2023
2d0476b
Add files via upload
GuldenaKuantaeva Apr 29, 2023
eedf092
Add files via upload
GuldenaKuantaeva Apr 29, 2023
8d1b32c
Update pom.xml
GuldenaKuantaeva Apr 29, 2023
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146 changes: 146 additions & 0 deletions robots/pom.xml
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@@ -0,0 +1,146 @@
<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://maven.apache.org/POM/4.0.0"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
<modelVersion>4.0.0</modelVersion>

<groupId>groupId</groupId>
<artifactId>robots</artifactId>
<version>1.0-SNAPSHOT</version>

<dependencies>
<!-- https://mvnrepository.com/artifact/com.googlecode.json-simple/json-simple -->
<dependency>
<groupId>com.googlecode.json-simple</groupId>
<artifactId>json-simple</artifactId>
<version>1.1</version>
</dependency>
<dependency>
<groupId>commons-lang</groupId>
<artifactId>commons-lang</artifactId>
<version>2.5</version>
</dependency>
<dependency>
<groupId>org.openjfx</groupId>
<artifactId>javafx-base</artifactId>
<version>11</version>
<type>pom</type>
</dependency>
<dependency>
<groupId>org.apache.activemq</groupId>
<artifactId>activemq-core</artifactId>
<version>5.3.0</version>
</dependency>
<dependency>
<groupId>com.intellij</groupId>
<artifactId>forms_rt</artifactId>
<version>5.0</version>
</dependency>
<!-- TEST SCOPE -->
<dependency>
<groupId>junit</groupId>
<artifactId>junit</artifactId>
<version>4.7</version>
<scope>test</scope>
</dependency>
<dependency>
<groupId>org.jetbrains.kotlin</groupId>
<artifactId>kotlin-stdlib</artifactId>
<version>1.7.10</version>
</dependency>
</dependencies>

<properties>
<maven.compiler.source>17</maven.compiler.source>
<maven.compiler.target>17</maven.compiler.target>
<project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
</properties>

<build>
<pluginManagement>
<plugins>
<plugin>
<artifactId>maven-clean-plugin</artifactId>
<version>3.1.0</version>
</plugin>
<plugin>
<artifactId>maven-resources-plugin</artifactId>
<version>3.0.2</version>
</plugin>
<plugin>
<artifactId>maven-compiler-plugin</artifactId>
<version>3.8.0</version>
<configuration>
<source>14</source>
<target>14</target>
</configuration>
</plugin>
<plugin>
<groupId>org.openjfx</groupId>
<artifactId>javafx-maven-plugin</artifactId>
<version>0.0.3</version>
<configuration>
<mainClass>src.main.java.RobotsProgram</mainClass>
</configuration>
</plugin>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-dependency-plugin</artifactId>
<executions>
<execution>
<id>copy-dependencies</id>
<phase>prepare-package</phase>
<goals>
<goal>copy-dependencies</goal>
</goals>
<configuration>
<outputDirectory>
${project.build.directory}/libs
</outputDirectory>
</configuration>
</execution>
</executions>
</plugin>

<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-jar-plugin</artifactId>
<configuration>
<archive>
<manifest>
<addClasspath>true</addClasspath>
<classpathPrefix>libs/</classpathPrefix>
<mainClass>
RobotsProgram
</mainClass>
</manifest>
</archive>
</configuration>
</plugin>

<plugin>
<artifactId>maven-surefire-plugin</artifactId>
<version>2.22.1</version>
</plugin>
<plugin>
<artifactId>maven-install-plugin</artifactId>
<version>2.5.2</version>
</plugin>
<plugin>
<artifactId>maven-deploy-plugin</artifactId>
<version>2.8.2</version>
</plugin>

<plugin>
<artifactId>maven-site-plugin</artifactId>
<version>3.7.1</version>
</plugin>
<plugin>
<artifactId>maven-project-info-reports-plugin</artifactId>
<version>3.0.0</version>
</plugin>
</plugins>
</pluginManagement>
</build>

</project>
149 changes: 52 additions & 97 deletions robots/src/gui/GameVisualizer.java
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@@ -1,40 +1,35 @@
package gui;

import java.awt.Color;
import java.awt.EventQueue;
import java.awt.Graphics;
import java.awt.Graphics2D;
import java.awt.Point;
import javax.swing.*;
import java.awt.*;
import java.awt.event.MouseAdapter;
import java.awt.event.MouseEvent;
import java.awt.geom.AffineTransform;
import java.util.Timer;
import java.util.TimerTask;

import javax.swing.JPanel;

public class GameVisualizer extends JPanel
{
private final Timer m_timer = initTimer();

private static Timer initTimer()

private static Timer initTimer()
{
Timer timer = new Timer("events generator", true);
return timer;
}

private volatile double m_robotPositionX = 100;
private volatile double m_robotPositionY = 100;
private volatile double m_robotDirection = 0;

private volatile int m_targetPositionX = 150;
private volatile int m_targetPositionY = 100;

private static final double maxVelocity = 0.1;
private static final double maxAngularVelocity = 0.001;

public GameVisualizer()


public static final double maxVelocity = 0.1;
public static final double maxAngularVelocity = 0.001;

private final RobotController controller;

public GameVisualizer(RobotController controller)
{
this.controller = controller;
Timer m_timer = initTimer();
m_timer.schedule(new TimerTask()
{
@Override
Expand Down Expand Up @@ -68,7 +63,7 @@ protected void setTargetPosition(Point p)
m_targetPositionX = p.x;
m_targetPositionY = p.y;
}

protected void onRedrawEvent()
{
EventQueue.invokeLater(this::repaint);
Expand All @@ -80,127 +75,87 @@ private static double distance(double x1, double y1, double x2, double y2)
double diffY = y1 - y2;
return Math.sqrt(diffX * diffX + diffY * diffY);
}
private static double angleTo(double fromX, double fromY, double toX, double toY)

private static double cornerTo(double fromX, double fromY, double toX, double toY)
{
double diffX = toX - fromX;
double diffY = toY - fromY;

return asNormalizedRadians(Math.atan2(diffY, diffX));
}

protected void onModelUpdateEvent()
{
double distance = distance(m_targetPositionX, m_targetPositionY,
m_robotPositionX, m_robotPositionY);
if (distance < 0.5)
{

protected void onModelUpdateEvent() {
double distance = distance(m_targetPositionX, m_targetPositionY,
controller.getPositionX(), controller.getPositionY());
if (distance < 0.5) {
return;
}
double velocity = maxVelocity;
double angleToTarget = angleTo(m_robotPositionX, m_robotPositionY, m_targetPositionX, m_targetPositionY);

double cornerToTarget = cornerTo(controller.getPositionX(), controller.getPositionY(), m_targetPositionX, m_targetPositionY);
double angularVelocity = 0;
if (angleToTarget > m_robotDirection)
{
if (cornerToTarget > controller.getDirection() + 0.01) {
angularVelocity = maxAngularVelocity;
}
if (angleToTarget < m_robotDirection)
{
if (cornerToTarget < controller.getDirection() - 0.01) {
angularVelocity = -maxAngularVelocity;
}

moveRobot(velocity, angularVelocity, 10);


controller.move(maxVelocity, angularVelocity, 10);

}
private static double applyLimits(double value, double min, double max)

static double applyLimits(double value, double min, double max)
{
if (value < min)
return min;
if (value > max)
return max;
return value;
}

private void moveRobot(double velocity, double angularVelocity, double duration)
{
velocity = applyLimits(velocity, 0, maxVelocity);
angularVelocity = applyLimits(angularVelocity, -maxAngularVelocity, maxAngularVelocity);
double newX = m_robotPositionX + velocity / angularVelocity *
(Math.sin(m_robotDirection + angularVelocity * duration) -
Math.sin(m_robotDirection));
if (!Double.isFinite(newX))
{
newX = m_robotPositionX + velocity * duration * Math.cos(m_robotDirection);
}
double newY = m_robotPositionY - velocity / angularVelocity *
(Math.cos(m_robotDirection + angularVelocity * duration) -
Math.cos(m_robotDirection));
if (!Double.isFinite(newY))
{
newY = m_robotPositionY + velocity * duration * Math.sin(m_robotDirection);
}
m_robotPositionX = newX;
m_robotPositionY = newY;
double newDirection = asNormalizedRadians(m_robotDirection + angularVelocity * duration);
m_robotDirection = newDirection;
}

private static double asNormalizedRadians(double angle)

static double asNormalizedRadians(double corner)
{
while (angle < 0)
while (corner < 0)
{
angle += 2*Math.PI;
corner += 2*Math.PI;
}
while (angle >= 2*Math.PI)
while (corner >= 2*Math.PI)
{
angle -= 2*Math.PI;
corner -= 2*Math.PI;
}
return angle;
return corner;
}
private static int round(double value)

public static int round(double value)
{
return (int)(value + 0.5);
}

@Override
public void paint(Graphics g)
{
super.paint(g);
Graphics2D g2d = (Graphics2D)g;
drawRobot(g2d, round(m_robotPositionX), round(m_robotPositionY), m_robotDirection);
Graphics2D g2d = (Graphics2D)g;
controller.draw(g2d);
drawTarget(g2d, m_targetPositionX, m_targetPositionY);
}
private static void fillOval(Graphics g, int centerX, int centerY, int diam1, int diam2)

static void fillOval(Graphics g, int centerX, int centerY, int diam1, int diam2)
{
g.fillOval(centerX - diam1 / 2, centerY - diam2 / 2, diam1, diam2);
}
private static void drawOval(Graphics g, int centerX, int centerY, int diam1, int diam2)

static void drawOval(Graphics g, int centerX, int centerY, int diam1, int diam2)
{
g.drawOval(centerX - diam1 / 2, centerY - diam2 / 2, diam1, diam2);
}

private void drawRobot(Graphics2D g, int x, int y, double direction)
{
int robotCenterX = round(m_robotPositionX);
int robotCenterY = round(m_robotPositionY);
AffineTransform t = AffineTransform.getRotateInstance(direction, robotCenterX, robotCenterY);
g.setTransform(t);
g.setColor(Color.MAGENTA);
fillOval(g, robotCenterX, robotCenterY, 30, 10);
g.setColor(Color.BLACK);
drawOval(g, robotCenterX, robotCenterY, 30, 10);
g.setColor(Color.WHITE);
fillOval(g, robotCenterX + 10, robotCenterY, 5, 5);
g.setColor(Color.BLACK);
drawOval(g, robotCenterX + 10, robotCenterY, 5, 5);
}



private void drawTarget(Graphics2D g, int x, int y)
{
AffineTransform t = AffineTransform.getRotateInstance(0, 0, 0);
AffineTransform t = AffineTransform.getRotateInstance(0, 0, 0);
g.setTransform(t);
g.setColor(Color.GREEN);
fillOval(g, x, y, 5, 5);
Expand Down
12 changes: 5 additions & 7 deletions robots/src/gui/GameWindow.java
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Original file line number Diff line number Diff line change
@@ -1,17 +1,15 @@
package gui;

import java.awt.BorderLayout;

import javax.swing.JInternalFrame;
import javax.swing.JPanel;
import javax.swing.*;
import java.awt.*;

public class GameWindow extends JInternalFrame
{
private final GameVisualizer m_visualizer;
public GameWindow()

public GameWindow(RobotController controller)
{
super("Игровое поле", true, true, true, true);
m_visualizer = new GameVisualizer();
GameVisualizer m_visualizer = new GameVisualizer(controller);
JPanel panel = new JPanel(new BorderLayout());
panel.add(m_visualizer, BorderLayout.CENTER);
getContentPane().add(panel);
Expand Down
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