Add geometry classes

Author: g3force

generateProto.sh

@@ -19,6 +19,9 @@ protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_game_event.p
 # referee message
 protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_referee.proto
 
+# geometry
+protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_gc_geometry.proto
+
 # remote communication
 protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_gc_rcon.proto
 protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_gc_rcon_autoref.proto

internal/app/geom/defensearea.go

@@ -0,0 +1,17 @@
+package geom
+
+import (
+	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/config"
+)
+
+func NewDefenseArea(geometry config.Geometry, onPositiveHalf bool) *Rectangle {
+	if onPositiveHalf {
+		return NewDefenseAreaBySign(geometry, 1)
+	}
+	return NewDefenseAreaBySign(geometry, -1)
+}
+
+func NewDefenseAreaBySign(geometry config.Geometry, sign float64) *Rectangle {
+	center := NewVector2(sign*(geometry.FieldLength/2.0-geometry.DefenseAreaDepth/2.0), 0)
+	return NewRectangleFromCenter(center, geometry.DefenseAreaDepth, geometry.DefenseAreaWidth)
+}

internal/app/geom/geometry.go

@@ -0,0 +1,21 @@
+package geom
+
+import "math"
+
+func NewVector2(x, y float64) *Vector2 {
+	return &Vector2{X: &x, Y: &y}
+}
+
+func (m *Vector2) Length() float64 {
+	x := *m.X
+	y := *m.Y
+	return math.Sqrt(x*x + y*y)
+}
+
+func (m *Vector2) Sub(o *Vector2) *Vector2 {
+	return NewVector2(*m.X-*o.X, *m.Y-*o.Y)
+}
+
+func (m *Vector2) DistanceTo(o *Vector2) float64 {
+	return m.Sub(o).Length()
+}

internal/app/geom/rectangle.go

@@ -0,0 +1,64 @@
+package geom
+
+import "math"
+
+type Rectangle struct {
+	center  *Vector2
+	xExtent float64
+	yExtent float64
+}
+
+func NewRectangleFromCenter(center *Vector2, xExtent, yExtent float64) (r *Rectangle) {
+	return &Rectangle{
+		center:  center,
+		xExtent: xExtent,
+		yExtent: yExtent,
+	}
+}
+
+func NewRectangleFromPoints(p1, p2 *Vector2) (r *Rectangle) {
+	r = new(Rectangle)
+	r.xExtent = math.Abs(*p1.X - *p2.X)
+	r.yExtent = math.Abs(*p1.Y - *p2.Y)
+	r.center = NewVector2(
+		math.Min(*p1.X, *p2.X)+r.xExtent/2.0,
+		math.Min(*p1.Y, *p2.Y)+r.yExtent/2.0,
+	)
+	return
+}
+
+func (r *Rectangle) WithMargin(margin float64) *Rectangle {
+	return &Rectangle{
+		center:  r.center,
+		xExtent: math.Max(0, r.xExtent+2*margin),
+		yExtent: math.Max(0, r.yExtent+2*margin),
+	}
+}
+
+func (r *Rectangle) MaxX() float64 {
+	return *r.center.X + r.xExtent/2.0
+}
+
+func (r *Rectangle) MinX() float64 {
+	return *r.center.X - r.xExtent/2.0
+}
+
+func (r *Rectangle) MaxY() float64 {
+	return *r.center.Y + r.yExtent/2.0
+}
+
+func (r *Rectangle) MinY() float64 {
+	return *r.center.Y + r.yExtent/2.0
+}
+
+func (r *Rectangle) IsPointInside(p *Vector2) bool {
+	return isBetween(*p.X, r.MinX(), r.MaxX()) &&
+		isBetween(*p.Y, r.MinY(), r.MaxY())
+}
+
+func isBetween(x, min, max float64) bool {
+	if max > min {
+		return (x >= min) && (x <= max)
+	}
+	return (x >= max) && (x <= min)
+}

internal/app/geom/ssl_gc_geometry.pb.go

@@ -0,0 +1,8 @@
+syntax = "proto2";
+
+option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/geom";
+
+message Vector2 {
+    required double x = 1;
+    required double y = 2;
+}