Merge pull request #4 from ParsianRoboticLab/GOD

God

Author: mahi97

src/coach.rs

@@ -80,7 +80,7 @@ impl DAN {
         - _rules.arena.goal_top_radius,
          _rules.arena.goal_height - _rules.arena.goal_top_radius);
         if point.x >= (_rules.arena.goal_width / 2.0) + _rules.arena.goal_side_radius
-        || point.y >= _rules.arena.goal_height + _rules.arena.goal_side_radius
+        || point.h >= _rules.arena.goal_height + _rules.arena.goal_side_radius
         || (v.x > 0.0 && v.y > 0.0 && v.len() >= _rules.arena.goal_top_radius
                                                 + _rules.arena.goal_side_radius) {
             dan = Self::min_dan(dan , Self::dan_to_plane(point, &Vec3::new(0.0, 0.0, _rules.arena.depth / 2.0), &Vec3::new(0.0, 0.0, -1.0)));

src/dan.rs

@@ -117,3 +117,7 @@ impl VEC for Action {
         }
     }
 }
+
+impl Copy for Ball {
+
+}

src/def.rs

@@ -0,0 +1,121 @@
+
+#[derive(Copy, Clone, Debug, Default)]
+struct Sphere {
+    rad:f64,
+    center:Vec3,
+    color:(f64,f64,f64),
+}
+impl Sphere{
+    fn new(rad : f64, center : Vec3, color : (f64,f64,f64)) -> Self {
+        Self { rad, center, color }
+    }
+}
+#[derive(Copy, Clone, Debug, Default)]
+struct Seg3 {
+    p1:Vec3,
+    p2:Vec3,
+    color:(f64,f64,f64),
+}
+impl Seg3{
+    fn new(p1 : Vec3, p2 : Vec3, color : (f64,f64,f64)) -> Self {
+        Self { p1, p2, color }
+    }
+}
+
+// impl Default for sphere{
+//     fn default() -> Self {
+//         Self {
+//             rad: 0.0,
+//             center:Vec3::default(),
+//             color:(0,0,0),
+//         }
+//     }
+// }
+#[derive(Clone, Debug, Default)]
+struct drawer {
+    sphereList : Vec<Sphere>,
+    lineList : Vec<Seg3>,
+    debugTxt : String
+}
+impl drawer {
+    fn createFinalString(&mut self) -> String {
+
+        let mut finalRes = String::new();
+        if CAN_DRAW {
+            finalRes.push_str("[
+            ");
+            for i in 0..self.sphereList.len() {
+
+                finalRes.push_str(&format!(" {{ \"Sphere\": {{
+                    \"x\": {},
+                    \"y\": {},
+                    \"z\": {},
+                    \"radius\": {},
+                    \"r\": {},
+                    \"g\": {},
+                    \"b\": {},
+                    \"a\": 0.5
+                }}
+            }}
+            ",self.sphereList[i].center.x,self.sphereList[i].center.h,self.sphereList[i].center.y,self.sphereList[i].rad,self.sphereList[i].color.0,self.sphereList[i].color.1,self.sphereList[i].color.2)[..]);
+            if i < self.sphereList.len() - 1 {
+                finalRes.push_str(",");
+            }
+        }
+        if self.sphereList.len() >= 1  && self.lineList.len() >= 1{
+            finalRes.push_str(",");
+        }
+
+        for i in 0..self.lineList.len() {
+
+            finalRes.push_str(&format!(" {{ \"Line\": {{
+                \"x1\": {},
+                \"y1\": {},
+                \"z1\": {},
+                \"x2\": {},
+                \"y2\": {},
+                \"z2\": {},
+                \"width\": 1.0,
+                \"r\": {},
+                \"g\": {},
+                \"b\": {},
+                \"a\": 1.0
+            }}
+        }}
+        ",self.lineList[i].p1.x,self.lineList[i].p1.h,self.lineList[i].p1.y,self.lineList[i].p2.x,self.lineList[i].p2.h,self.lineList[i].p2.y,self.lineList[i].color.0,self.lineList[i].color.1,self.lineList[i].color.2)[..]);
+        if i < self.lineList.len() - 1 {
+            finalRes.push_str(",");
+        }
+    }
+
+
+    finalRes.push_str (&format!(",{{
+        \"Text\": \"{} \"
+    }}",self.debugTxt));
+
+    
+    finalRes.push_str ("
+    ]");
+
+
+    self.lineList.clear();
+    self.sphereList.clear();
+}
+finalRes
+}
+
+fn draw(&mut self, pos : Vec3, rad : f64, color : (f64,f64,f64)) {
+    self.sphereList.push(Sphere::new(rad,pos,color));
+}
+
+fn drawLine(&mut self, p1 : Vec3, p2 : Vec3, color : (f64,f64,f64)) {
+    self.lineList.push(Seg3::new(p1,p2,color));
+}
+
+fn drawText(&mut self, input : String) {
+    self.debugTxt = input;
+}
+
+
+
+}

src/draw.rs

@@ -14,6 +14,7 @@ trait Entity3 {
     fn set_position(&mut self, p : &Vec3);
     fn set_velocity(&mut self, v : &Vec3);
     fn set_height(&mut self, h: f64);
+    fn set_velocity_h(&mut self, h: f64);
     fn set_touch_normal(&mut self, v : &Vec3);
 
 
@@ -72,6 +73,9 @@ impl Entity3 for Robot {
         self.touch_normal_y = Some(v.h);
         self.touch_normal_z = Some(v.y);
     }
+    fn set_velocity_h(&mut self, h: f64){
+        self.velocity_y = h;
+    }
 
 }
 
@@ -117,5 +121,8 @@ impl Entity3 for Ball {
     fn set_touch_normal(&mut self, v: &Vec3) {
 
     }
+    fn set_velocity_h(&mut self, h: f64){
+        self.velocity_y = h;
+    }
 
 }