139 lines
4.0 KiB
JavaScript
139 lines
4.0 KiB
JavaScript
import { RaycastSensor } from "./sensor.js";
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import { FloorColorSensor } from "./sensor.js";
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export class Robot {
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constructor(id, x, y, color = "blue") {
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this.id = id;
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this.x = x;
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this.y = y;
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this.velocity = 0;
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this.angle = 0; // Degrees
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this.width = 20;
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this.height = 20;
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this.color = color;
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this.sensors = [];
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this.hull = [
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{ x: -this.width / 2, y: -this.height / 2 }, // Vertex 1
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{ x: this.width / 2, y: -this.height / 2 }, // Vertex 2
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{ x: this.width, y: 0 }, // Vertex 2
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{ x: this.width / 2, y: this.height / 2 }, // Vertex 3
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{ x: -this.width / 2, y: this.height / 2 } // Vertex 4
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];
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this.addSensor(new RaycastSensor(this, -40, 13, -45, 60));
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this.addSensor(new RaycastSensor(this, 40, 13, 45, 60));
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this.addSensor(new FloorColorSensor(this, 0, 0));
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}
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update(ctx, gameWorld) {
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this.update_position();
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this.update_sensors(gameWorld);
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this.draw(ctx);
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}
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update_sensors(gameWorld) {
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this.sensors.forEach(sensor => sensor.read(this, gameWorld));
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}
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addSensor(sensor) {
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if (this.sensors.length < 8) {
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this.sensors.push(sensor);
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}
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}
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update_position() {
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const radians = (this.angle * Math.PI) / 180;
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this.prevX = this.x;
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this.prevY = this.y;
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this.x += Math.cos(radians) * this.velocity;
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this.y += Math.sin(radians) * this.velocity;
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}
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move(velocity) {
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this.velocity = velocity;
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}
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turn(degrees) {
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this.angle += degrees;
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}
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draw(ctx) {
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return ;
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ctx.fillStyle = this.color;
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ctx.save();
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ctx.translate(this.x, this.y);
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ctx.rotate((this.angle * Math.PI) / 180);
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// Draw the rectangle (tank body)
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ctx.fillRect(-this.width / 2, -this.height / 2, this.width, this.height);
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// Draw the triangle (direction indicator)
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ctx.strokeStyle = "black";
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ctx.lineWidth = 2;
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ctx.beginPath();
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ctx.moveTo(this.width / 2, -this.height / 2); // Tip of the triangle (front)
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ctx.lineTo(this.width, 0); // Bottom left of triangle
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ctx.lineTo(this.width / 2, this.height / 2); // Bottom right of triangle
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ctx.closePath();
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ctx.fill(); // Fill both the rectangle and the triangle
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ctx.beginPath();
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ctx.moveTo(this.hull[0].x, this.hull[0].y); // Start at the first vertex
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// Loop through the rest of the vertices and draw lines
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for (let i = 1; i < this.hull.length; i++) {
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ctx.lineTo(this.hull[i].x, this.hull[i].y);
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}
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// Close the path to form a closed polygon
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ctx.closePath();
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ctx.stroke(); // Draw the outline
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ctx.restore();
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this.sensors.forEach(sensor => sensor.draw(ctx));
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}
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// Takes the polygon hull and updates it to local position and rotation.
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get_hull() {
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let angle = this.angle * (Math.PI / 180); // Convert degrees to radians
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//console.log(angle);
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this.transformedHull = this.hull.map(point => {
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let xRotated = point.x * Math.cos(angle) - point.y * Math.sin(angle);
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let yRotated = point.x * Math.sin(angle) + point.y * Math.cos(angle);
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return {
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x: this.x + xRotated, // Translate to robot's position
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y: this.y + yRotated
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};
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});
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//console.log(this.transformedHull );
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return this.transformedHull;
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}
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draw_sensors(ctx) {
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ctx.fillStyle = "yellow";
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this.sensors.forEach(sensor => {
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const radians = ((this.angle + sensor.angleOffset) * Math.PI) / 180;
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const sensorX = this.x + Math.cos(radians) * 15;
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const sensorY = this.y + Math.sin(radians) * 15;
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ctx.beginPath();
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ctx.arc(sensorX, sensorY, 3, 0, 2 * Math.PI);
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ctx.fill();
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});
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}
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}
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