ZRLight.cpp

Go to the documentation of this file.

//#include <string.h>
#include <math.h>
#include <cmath>
#include <cstdlib>
#include "ZRGame.h"
#include "ZRGameInternal.h"
/*#include <algorithm>*/

/*#ifdef ZRSIMULATION
#include "mex.h"
#define GAME_TRACE(arg) DEBUG(arg)
#else
#define GAME_TRACE(arg)
#endif*/

void ZeroRoboticsGameImpl::initLight() {
  challInfo.light.direction = 1;
  #ifdef ALLIANCE

    #if (SPHERE_ID == SPHERE1)
      //float s = ((float) rand()) / ((float) RAND_MAX);
      challInfo.light.center = -0.2;  //s * 1.6 - 0.8;
      challInfo.light.nextSwitchTime = -1; // shouldn't be utilized
    #endif

    challInfo.light.greyWidth = LIGHT_GREY_WIDTH*.5;
    challInfo.light.lightWidth = LIGHT_WIDTH;
  #else
    #if (SPHERE_ID == SPHERE1)
      challInfo.light.center = 0.0;
      challInfo.light.nextSwitchTime = ((unsigned int) rand()) % 30 + 30;
    #endif

    challInfo.light.greyWidth = LIGHT_GREY_WIDTH;
  #endif
}

void ZeroRoboticsGameImpl::updateLight() {
  #ifdef ALLIANCE

    challInfo.light.center += LIGHT_SPEED;
    if (challInfo.light.center > ZONE_pY) {
      challInfo.light.center -= 2*ZONE_pY;
    }

  #else

    if (challInfo.currentTime < challInfo.light.nextSwitchTime) return;

    GAME_TRACE(("Light switching now"));
    switchLightDirection();
    challInfo.light.nextSwitchTime = challInfo.currentTime + LIGHT_SWITCH_PERIOD;

  #endif
}

void ZeroRoboticsGameImpl::switchLightDirection() {
  challInfo.light.direction *= -1;
}

int ZeroRoboticsGameImpl::sphereInSwitchingArea(float position[]) {
  float center = challInfo.light.center;
  float diff = position[1] - center;
  diff *= challInfo.light.direction; // adjust for light direction

  if (diff > -challInfo.light.greyWidth/2 && diff < challInfo.light.greyWidth/2) return 0;
  if (diff < 0) return -1;
  return 1;
}

int ZeroRoboticsGameImpl::sphereInMovingArea(float position[])
{

  float interface = challInfo.light.center; // Start of Light Zone
  float outerface = interface + challInfo.light.lightWidth; // End of light zone
  if(outerface > ZONE_pY)
    outerface -= 2*ZONE_pY; // Wraparound
  float halfWidth = challInfo.light.greyWidth*.5; // Grey width on either side
  if ((interface - halfWidth <= position[1] && interface + halfWidth >= position[1]) || // In the first grey zone
      (outerface - halfWidth <= position[1] && outerface + halfWidth >= position[1]) || // In the second gray zone
      (position[0] >= ZONE_pX || position[1] >= ZONE_pY || position[2] >= ZONE_pZ) || // Out of bounds positive
      (position[0] <= ZONE_nX || position[1] <= ZONE_nY || position[2] <= ZONE_nZ)) // Out of bounds negatively
  {
    return 0; // Gray 
  }
  else if ((outerface > position[1] && (interface < position[1] || outerface < interface)) || // before the end of the light zone and Either after the beginning or the end has wrapped around
          (interface < position[1] && outerface < interface))  // or it's after the beginning and the end has wrapped
  {
    return 1; //Light
  }

  return -1; // Dark
}

bool ZeroRoboticsGameImpl::sphereInLight(float position[]) {
  #ifdef ALLIANCE
  return sphereInMovingArea(position) == 1;
  #else
  return sphereInSwitchingArea(position) == 1;
  #endif
}

bool ZeroRoboticsGameImpl::sphereInDark(float position[]) {
  #ifdef ALLIANCE
  return sphereInMovingArea(position) == -1;
  #else
  return sphereInSwitchingArea(position) == -1;
  #endif
}

float ZeroRoboticsGame::getLightSwitchTime() {
  return pimpl.challInfo.light.nextSwitchTime - pimpl.challInfo.currentTime;
}
float ZeroRoboticsGame::getLightInterfacePosition()
{
  return pimpl.challInfo.light.center;
}
float ZeroRoboticsGame::getLightGreyBoundary()
{
  return pimpl.challInfo.light.center + pimpl.challInfo.light.direction * LIGHT_GREY_WIDTH * 0.5;
}
float ZeroRoboticsGame::getDarkGreyBoundary()
{
  return pimpl.challInfo.light.center - pimpl.challInfo.light.direction * LIGHT_GREY_WIDTH * 0.5;
}

int ZeroRoboticsGame::posInArea(float position[]){
  #ifdef ALLIANCE
  return pimpl.sphereInMovingArea(position);
  #else
  return pimpl.sphereInSwitchingArea(position);
  #endif  
}

bool ZeroRoboticsGame::posInLight(float position[]) {
  return pimpl.sphereInLight(position);
}

bool ZeroRoboticsGame::posInDark(float position[]){
  return pimpl.sphereInDark(position);
}

bool ZeroRoboticsGame::posInGrey(float position[]){
  return !pimpl.sphereInDark(position) && !pimpl.sphereInLight(position);
}