Package org.ironmaple.simulation.seasonspecific.reefscape2025

Class ReefscapeReefBranch

java.lang.Object

org.ironmaple.simulation.Goal

org.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefBranch

All Implemented Interfaces:

SimulatedArena.Simulatable

public class ReefscapeReefBranch
extends Goal

Simulates a Reefscape branch on the field.

This class simulates a Reefscape branch where corals can be scored. This class should not be used directly and instead should be used via a ReefscapeReefSimulation which will handle an entire reef.

Nested Class Summary

Nested classes/interfaces inherited from class org.ironmaple.simulation.Goal

Goal.PositionChecker, Goal.RotationChecker

Field Summary

Fields

Modifier and Type	Field	Description
static final Translation2d[]	branchesCenterPositionBlue
static final Translation2d[]	branchesCenterPositionRed
static final Rotation2d[]	branchesFacingOutwardsBlue
static final Rotation2d[]	branchesFacingOutwardsRed
final int	column
static final Rotation3d	flip90
static final Translation3d[]	heights
final int	level
static final Translation2d	origin

Fields inherited from class org.ironmaple.simulation.Goal

allowGrounded, arena, elevation, gamePieceCount, gamePieceType, height, isBlue, max, position, positionChecker, rotationChecker, velocityValidator, xyBox

Constructor Summary

Constructors

Constructor	Description
ReefscapeReefBranch(Arena2025Reefscape arena, boolean isBlue, int level, int column)	Creates a singular reef branch at the specified location

Method Summary

Modifier and Type	Method	Description
protected void	addPoints()	Adds Points When a Piece Has Been Successfully Scored in This Goal
void	draw(List<Pose3d> drawList)	Displays Game Pieces to AdvantageScope if Applicable
Pose3d	getPose()	Gives the pose of the reef branch.
static Translation3d	getPoseOfBranchAt(boolean isBlue, int level, int col)	Returns the required pose of a reef branch at the designated position.
static void	setAngleTolerance(Angle tolerance)	Sets the Angle Tolerance for All Reef Branches

Methods inherited from class org.ironmaple.simulation.Goal

absoluteAngle, anyRotation, box, checkCollision, checkGrounded, checkValidity, clear, flipRotation, getGamePieceCount, isFull, pitchOnly, setNeededAngle, setNeededAngle, simulationSubTick, withCustomCollisionPredicate, withCustomPositionChecker, withCustomRotationChecker, withCustomRotationValidator, withCustomVelocityValidator, withRotationTolerance

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

level

public final int level

column

public final int column

origin

public static final Translation2d origin

branchesCenterPositionBlue

public static final Translation2d[] branchesCenterPositionBlue

heights

public static final Translation3d[] heights

flip90

public static final Rotation3d flip90

branchesCenterPositionRed

public static final Translation2d[] branchesCenterPositionRed

branchesFacingOutwardsBlue

public static final Rotation2d[] branchesFacingOutwardsBlue

branchesFacingOutwardsRed

public static final Rotation2d[] branchesFacingOutwardsRed

Constructor Details

ReefscapeReefBranch

public ReefscapeReefBranch(Arena2025Reefscape arena,
 boolean isBlue,
 int level,
 int column)

Creates a singular reef branch at the specified location

Parameters:

arena - The host arena of this reef.

isBlue - Wether the position is on the blue reef or the red reef.

level - The level of the reef (0 indexed). Range of 0-3.

column - The pole or Colum of the reef (0 indexed). Range of 0-11.

Method Details

setAngleTolerance

public static void setAngleTolerance(Angle tolerance)

Sets the Angle Tolerance for All Reef Branches

This configures the tolerance used for rotation validation across all reef branch instances. Changes take effect immediately for all instances, including those already created.

Parameters:

tolerance - The angle tolerance to use for all branches

getPoseOfBranchAt

public static Translation3d getPoseOfBranchAt(boolean isBlue,
 int level,
 int col)

Returns the required pose of a reef branch at the designated position.

Parameters:

isBlue - Wether the position is on the blue reef or the red reef.

level - The level of the reef (0 indexed). Range of 0-3.

col - The pole or Colum of the reef (0 indexed). Range of 0-11.

Returns:

The pose of a reef branch with the specified stats.

getPose

public Pose3d getPose()

Gives the pose of the reef branch.

Returns:

This position of this branch as a pose3d.

addPoints

protected void addPoints()

Description copied from class: Goal

Adds Points When a Piece Has Been Successfully Scored in This Goal

Since this function is the only trigger called when a piece is scored it may handle other small things outside of adding points.

Specified by:

addPoints in class Goal

draw

public void draw(List<Pose3d> drawList)

Description copied from class: Goal

Displays Game Pieces to AdvantageScope if Applicable

Specified by:

draw in class Goal

Parameters:

drawList - a list of Pose3d objects used to visualize the positions of the game pieces on AdvantageScope