Mock.Race:

An alternate tacking implementation during race simulate. Doesn't handle keeping the boats in-bounds, and sometimes has issues with landing directly on a mark.
Also seems to use wrong starting velocities (from the XML file).

#story[873]

mock/src/main/java/seng302/Model/Boat.java

@@ -23,6 +23,9 @@ public class Boat {
     private double heading;
     private Polars polars;
 
+    ///This stores the milliseconds since the boat has changed its tack, to allow for only updating the tack every X milliseconds.
+    private long timeSinceTackChange = 0;
+
     /**
      * Boat initialiser which keeps all of the information of the boat.
      *
@@ -223,4 +226,21 @@ public class Boat {
     public void setPolars(Polars polars) {
         this.polars = polars;
     }
+
+
+    /**
+     * Returns the time since the boat changed its tack, in milliseconds.
+     * @return Time since the boat changed its tack, in milliseconds.
+     */
+    public long getTimeSinceTackChange() {
+        return timeSinceTackChange;
+    }
+
+    /**
+     * Sets the time since the boat changed it's tack, in milliseconds.
+     * @param timeSinceTackChange Time since the boat changed its tack, in milliseconds.
+     */
+    public void setTimeSinceTackChange(long timeSinceTackChange) {
+        this.timeSinceTackChange = timeSinceTackChange;
+    }
 }

mock/src/main/java/seng302/Model/Event.java

@@ -45,7 +45,7 @@ public class Event {
         System.out.println("Sending Boat");
         sendBoatData();
 
-        int scaleFactor = 5;//TEMP - was 15.
+        int scaleFactor = 25;//TEMP - was 15.
         Race newRace = new Race(raceDataSource, scaleFactor, mockOutput);
         new Thread((newRace)).start();
     }

mock/src/main/java/seng302/Model/Race.java

@@ -72,7 +72,7 @@ public class Race implements Runnable {
         this.boundary = boundary;
 
         this.windSpeed = 12;//TODO could use input parameters for these. And should fluctuate during race.
-        this.windDirection = 0;
+        this.windDirection = 180;
 
         //TODO refactor
         this.startTime = System.currentTimeMillis() + (this.PRERACE_TIME / this.scaleFactor);
@@ -246,6 +246,7 @@ public class Race implements Runnable {
                 startLeg.calculateDistance();
                 boat.setCurrentLeg(startLeg);
                 boat.setHeading(boat.calculateHeading());
+                boat.setTimeSinceTackChange(999999);//We set a large time since tack change so that it calculates a new VMG when the simulation starts.
             }
         }
     }
@@ -308,27 +309,40 @@ public class Race implements Runnable {
     protected void updatePosition(Boat boat, int millisecondsElapsed) {
 
         //distanceTravelled = velocity (nm p hr) * time taken to update loop
-        double distanceTravelled = (boat.getScaledVelocity() * millisecondsElapsed) / 3600000;
+        double distanceTravelled = (boat.getVelocity() * this.scaleFactor * millisecondsElapsed) / 3600000;
 
         double totalDistanceTravelled = distanceTravelled + boat.getDistanceTravelledInLeg();
 
         boolean finish = boat.getCurrentLeg().getName().equals("Finish");
         if (!finish) {
-            int windAngle = 360;//todo - get the wind speed from somewhere, using 360 for now
-            if(boat.getCurrentLeg().getName().endsWith("to Windward Gate")){//todo something is broken in this if statement, not sure what
             double totalDistanceTravelledInTack = distanceTravelled + boat.getDistanceTravelledInTack();
 
-                double bound1 = (boat.calculateBearingToDestination()-90)%360;
+            double bound1 = (boat.calculateBearingToDestination() - 90) % 360;
-                double bound2 = (boat.calculateBearingToDestination()+90)%360;
+            double bound2 = (boat.calculateBearingToDestination() + 90) % 360;
+            //TODO the actual bearing bounds need to be the interval in which the boat won't go out of bounds.
+            bound1 = 0;
+            bound2 = 360;
 
-                VMG newHeading = boat.getPolars().calculateVMG(windAngle, 30,
+            boat.setTimeSinceTackChange(boat.getTimeSinceTackChange() + this.scaleFactor * millisecondsElapsed);
-                        boat.calculateBearingToDestination(), min(bound1, bound2), max(bound1,bound2));
 
 
-                double azimuth = newHeading.getBearing();
+            //How fast a boat can turn, in degrees per millisecond.
-                if (newHeading.getBearing() > 180){
+            double turnRate = 0.03; //Roughly 30 per second, or 12 seconds per revolution.
-                    azimuth = newHeading.getBearing() -360;
+
-                }
+            //How much the boat is allowed to turn, considering how long since it last turned.
+            double turnAngle = turnRate * boat.getTimeSinceTackChange();
+
+
+            //System.out.println("boat " + boat.getAbbrev() + " turn angle is " + turnAngle + ".");//TEMP DEBUG REMOVE
+
+            //Find the bounds on what angle the boat is allowed to travel at.
+            bound1 = boat.getHeading() - turnAngle;
+            bound2 = boat.getHeading() + turnAngle;
+
+
+            VMG newHeading = boat.getPolars().calculateVMG(this.windDirection, this.windSpeed,
+                    boat.calculateBearingToDestination(), bound1, bound2);
+
 
 //                if (!GPSCoordinate.isInsideBoundary(calculatePosition(boat.getCurrentPosition(),
 //                        1, azimuth), boundary)){
@@ -337,35 +351,55 @@ public class Race implements Runnable {
 //                    newHeading.bearing = tempHeading;
 //                }
 
+
+            //Is this new VMG better than the current VMG?
+
+            double angleBetweenDestAndHeading = boat.getHeading() - boat.calculateBearingToDestination();
+            double angleBetweenDestAndNewVMG = newHeading.getBearing() - boat.calculateBearingToDestination();
+            double currentVelocity = cos(Math.toRadians(angleBetweenDestAndHeading)) * boat.getVelocity();
+            double vmgVelocity = cos(Math.toRadians(angleBetweenDestAndNewVMG)) * newHeading.getSpeed();
+            //System.out.println("boat " + boat.getAbbrev() + " current velocity is " + currentVelocity + " knots, possible VMG is " + vmgVelocity + " knots.");//TEMP DEBUG REMOVE
+            if (vmgVelocity > currentVelocity) {
                 boat.setHeading(newHeading.getBearing());
                 boat.setVelocity(newHeading.getSpeed());
+                boat.setTimeSinceTackChange(0);
+
+                //System.out.println("boat " + boat.getAbbrev() + " has a new bearing " + boat.getHeading() + " degrees, and is " + boat.calculateDistanceToNextMarker() + " nautical miles to the next marker. Velocity to next marker is " + boat.getVelocity() + " knots.");//TEMP DEBUG REMOVE
+            }
+
+
+
+
+            //TODO one way to fix the boat's rapid turning it to only update the velocity/heading every X seconds (e.g., every 5 seconds).
+            //TODO may need a lower tack period
+            //TODO another way would be to allow boats use a better VMG if it is within turnRate * timeSinceTackChange. E.g., after 100ms a boat can select a more optimal VMG within 5deg of their current bearing. After 500ms VMG can be within 25deg of current bearing. After 2sec it can be 100deg of bearing, etc...
 
             //calc the distance travelled in a straight line to windward
-                double angleBetweenDestAndHeading = newHeading.getBearing() - boat.calculateBearingToDestination();
+            //double angleBetweenDestAndHeading = boat.getHeading() - boat.calculateBearingToDestination();
-                totalDistanceTravelled = cos(angleBetweenDestAndHeading)*totalDistanceTravelledInTack;
+            totalDistanceTravelled = cos(Math.toRadians(angleBetweenDestAndHeading))*totalDistanceTravelledInTack;
             boat.setDistanceTravelledInLeg(totalDistanceTravelled);
 
+
             //Calculate boat's new position by adding the distance travelled onto the start point of the leg
+            double azimuth = boat.getHeading();
+            if (azimuth > 180) {
+                azimuth = azimuth - 360;
+            }
             boat.setCurrentPosition(calculatePosition(boat.getCurrentPosition(),
                     totalDistanceTravelledInTack, azimuth));
 
-            }else{
+
-                boat.setHeading(boat.calculateHeading());
-                //update boat's distance travelled
-                boat.setDistanceTravelledInLeg(totalDistanceTravelled);
-                //Calculate boat's new position by adding the distance travelled onto the start point of the leg
-                boat.setCurrentPosition(calculatePosition(boat.getCurrentLeg().getStartMarker().getAverageGPSCoordinate(),
-                        totalDistanceTravelled, boat.calculateAzimuth(boat.getCurrentLeg().getStartMarker().getAverageGPSCoordinate(),
-                                boat.getCurrentLeg().getEndMarker().getAverageGPSCoordinate())));
-            }
         }
     }
 
     protected void checkPosition(Boat boat, long timeElapsed) {
-        System.out.println(boat.getDistanceTravelledInLeg());
+        //System.out.println(boat.getDistanceTravelledInLeg());
-        System.out.println(boat.getCurrentLeg().getDistance());
+        //System.out.println(boat.getCurrentLeg().getDistance());
-        System.out.println(" ");
+        //System.out.println(" ");
-        if (boat.getDistanceTravelledInLeg() > boat.getCurrentLeg().getDistance()) {
+        //if (boat.getDistanceTravelledInLeg() > boat.getCurrentLeg().getDistance()) {
+        //The distance (in nautical miles) within which the boat needs to get in order to consider that it has reached the marker.
+        double epsilon = 100.0 / Constants.NMToMetersConversion; //100 meters. TODO should be more like 5-10.
+        if (boat.calculateDistanceToNextMarker() < epsilon) {
             //boat has passed onto new leg
             if (boat.getCurrentLeg().getName().equals("Finish")) {
                 //boat has finished
@@ -387,6 +421,9 @@ public class Race implements Runnable {
                 boat.setCurrentLeg(nextLeg);
                 //Add overshoot distance into the distance travelled for the next leg
                 boat.setDistanceTravelledInLeg(boat.getDistanceTravelledInLeg());
+
+                //Setting a high value for this allows the boat to immediately do a large turn, as it has needs to in order to get to the next mark.
+                boat.setTimeSinceTackChange(999999);
             }
         }
     }