Merge branch 'story31.2_alternateTack' into sp4_s31_cleanups

# Conflicts:
#	mock/src/main/java/seng302/Model/Race.java
Resolved conflict manually.

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

@@ -33,7 +33,7 @@ public class Race implements Runnable {
     protected List<Leg> legs;
     protected int boatsFinished = 0;
     protected long totalTimeElapsed;
-    protected int scaleFactor = 3;
+    protected int scaleFactor = 15;
     private long startTime;
     private int raceId;
     private int dnfChance = 0; //percentage chance a boat fails at each checkpoint
@@ -63,6 +63,8 @@ public class Race implements Runnable {
 
         this.windSpeed = 12;//TODO could use input parameters for these. And should fluctuate during race.
         this.windDirection = 180;
+
+
     }
 
     /**
@@ -256,11 +258,7 @@ public class Race implements Runnable {
 
             double totalDistanceTravelledInTack = distanceTravelled;//TODO FIX// + boat.getDistanceTravelledInTack();
 
-            double bound1 = (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;
 
             boat.setTimeSinceTackChange(boat.getTimeSinceTackChange() + this.scaleFactor * millisecondsElapsed);
 
@@ -272,23 +270,19 @@ public class Race implements Runnable {
             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;
+            double bound1 = boat.getHeading() - turnAngle;
-            bound2 = boat.getHeading() + turnAngle;
+            double bound2 = boat.getHeading() + turnAngle;
+
 
             //The bounds cap out at [0, 360).
             bound1 = Math.max(bound1, 0);
             bound2 = Math.min(bound2, 360);
 
+            //Calculate the new VMG.
             VMG newHeading = boat.getPolars().calculateVMG(this.windDirection, this.windSpeed,
                     boat.calculateBearingToDestination(), bound1, bound2);
 
-            if (!GPSCoordinate.isInsideBoundary(boat.getCurrentPosition(), boundary)){
-                double tempHeading = (newHeading.getBearing() - this.windDirection +90)%360;
-                newHeading.setBearing(tempHeading);
-            }
 
             //Is this new VMG better than the current VMG?
 
@@ -296,21 +290,27 @@ public class Race implements Runnable {
             double angleBetweenDestAndNewVMG = newHeading.getBearing() - boat.calculateBearingToDestination();
             double currentVelocity = cos(Math.toRadians(angleBetweenDestAndHeading)) * boat.getCurrentSpeed();
             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.setCurrentSpeed(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.getCurrentSpeed() + " knots.");//TEMP DEBUG REMOVE
             }
 
 
 
+            double azimuth = boat.getHeading();
+            if (azimuth > 180) {
+                azimuth = azimuth - 360;
+            }
+            //tests to see if a point in front of the boat is out of bounds, if so mirror heading in the wind
+            GPSCoordinate test = calculatePosition(boat.getCurrentPosition(), (100.0 / Constants.NMToMetersConversion), azimuth);
+            if (!GPSCoordinate.isInsideBoundary(test, boundary)) {
+                double tempHeading = (boat.getHeading() - this.windDirection + 90) % 360;
+                boat.setHeading(tempHeading);
+            }
+
 
-            //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 = boat.getHeading() - boat.calculateBearingToDestination();
@@ -319,7 +319,7 @@ public class Race implements Runnable {
 
 
             //Calculate boat's new position by adding the distance travelled onto the start point of the leg
-            double azimuth = boat.getHeading();
+            azimuth = boat.getHeading();
             if (azimuth > 180) {
                 azimuth = azimuth - 360;
             }

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

@@ -32,7 +32,7 @@ public class VMG {
 
 
     /**
-     * Returns the speed component of this VMG object, measured in.
+     * Returns the speed component of this VMG object, measured in knots.
      * @return Speed component of this VMG object.
      */
     public double getSpeed() {