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| version: 2 | ||
| jobs: | ||
| app: | ||
| docker: | ||
| - image: circleci/golang:1.14 | ||
|
|
||
| working_directory: /go/src/github.com/RoboCup-SSL/ssl-simulation-controller | ||
| steps: | ||
| - checkout | ||
| - run: go get -v -t -d ./... | ||
| - run: go test -v ./... | ||
| - run: | ||
| working_directory: cmd/ssl-simulation-controller | ||
| command: | | ||
| GOOS=linux GOARCH=amd64 go build -o ../../release/ssl-simulation-controller_linux_amd64 | ||
| GOOS=darwin GOARCH=amd64 go build -o ../../release/ssl-simulation-controller_darwin_amd64 | ||
| GOOS=windows GOARCH=amd64 go build -o ../../release/ssl-simulation-controller_windows_amd64.exe | ||
| - persist_to_workspace: | ||
| root: . | ||
| paths: | ||
| - release/* | ||
|
|
||
| publish-github-release: | ||
| docker: | ||
| - image: circleci/golang:1.14 | ||
| steps: | ||
| - attach_workspace: | ||
| at: . | ||
| - run: | ||
| name: "Prepare artifacts" | ||
| working_directory: release | ||
| command: | | ||
| mv ssl-simulation-controller_linux_amd64 ssl-simulation-controller_${CIRCLE_TAG}_linux_amd64 | ||
| mv ssl-simulation-controller_darwin_amd64 ssl-simulation-controller_${CIRCLE_TAG}_darwin_amd64 | ||
| mv ssl-simulation-controller_windows_amd64.exe ssl-simulation-controller_${CIRCLE_TAG}_windows_amd64.exe | ||
| - run: | ||
| name: "Publish Release on GitHub" | ||
| command: | | ||
| go get github.com/tcnksm/ghr | ||
| ghr -t ${GITHUB_TOKEN} -u ${CIRCLE_PROJECT_USERNAME} -r ${CIRCLE_PROJECT_REPONAME} -c ${CIRCLE_SHA1} -delete ${CIRCLE_TAG} ./release/ | ||
| workflows: | ||
| version: 2 | ||
| main: | ||
| jobs: | ||
| - app: | ||
| filters: | ||
| tags: | ||
| only: /.*/ | ||
| - publish-github-release: | ||
| requires: | ||
| - app | ||
| filters: | ||
| branches: | ||
| ignore: /.*/ | ||
| tags: | ||
| only: /^v.*/ |
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| @@ -0,0 +1,4 @@ | ||
| /.git | ||
| /Dockerfile | ||
| /.idea | ||
| /.vscode |
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| # Editor directories and files | ||
| .idea | ||
| .vscode | ||
| *.suo | ||
| *.ntvs* | ||
| *.njsproj | ||
| *.sln | ||
| *.sw* |
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| FROM golang:1.14-alpine AS build | ||
| WORKDIR /go/src/github.com/RoboCup-SSL/ssl-simulation-controller | ||
| COPY go.mod go.mod | ||
| RUN go mod download | ||
| COPY cmd cmd | ||
| COPY internal internal | ||
| RUN go install ./... | ||
|
|
||
| # Start fresh from a smaller image | ||
| FROM alpine:3.9 | ||
| COPY --from=build /go/bin/ssl-simulation-controller /app/ssl-simulation-controller | ||
| ENTRYPOINT ["/app/ssl-simulation-controller"] | ||
| CMD [] |
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| [](https://circleci.com/gh/RoboCup-SSL/ssl-simulation-controller/tree/master) | ||
| [](https://goreportcard.com/report/github.com/RoboCup-SSL/ssl-simulation-controller) | ||
| [](https://godoc.org/github.com/RoboCup-SSL/ssl-simulation-controller/pkg/vision) | ||
| [](https://github.com/RoboCup-SSL/ssl-simulation-controller/releases/latest) | ||
|
|
||
| # ssl-simulation-controller | ||
|
|
||
| A controller for SSL simulation tournaments, that: | ||
| * places the ball automatically, if it can not be placed by the teams | ||
| * TODO: Adds and removes robots, if the robot count does not fit | ||
| * During gameplay, if the [conditions](https://robocup-ssl.github.io/ssl-rules/sslrules.html#_robot_substitution) are met | ||
| * During stop by selecting robots nearest to either crossing of half-way line and touch line) | ||
| * TODO: Set robot limits based on some configuration | ||
|
|
||
| ## Usage | ||
| If you just want to use this app, simply download the latest [release binary](https://github.com/RoboCup-SSL/ssl-simulation-controller/releases/latest). | ||
| The binary is self-contained. No dependencies are required. | ||
|
|
||
| You can also use pre-build docker images: | ||
| ```shell script | ||
| docker pull robocupssl/ssl-simulation-controller | ||
| docker run --network host robocupssl/ssl-simulation-controller | ||
| ``` | ||
|
|
||
| ## Development | ||
|
|
||
| ### Requirements | ||
| You need to install following dependencies first: | ||
| * Go >= 1.14 | ||
|
|
||
| ### Prepare | ||
| Download and install to [GOPATH](https://github.com/golang/go/wiki/GOPATH): | ||
| ```bash | ||
| go get -u github.com/RoboCup-SSL/ssl-simulation-controller/... | ||
| ``` | ||
| Switch to project root directory | ||
| ```bash | ||
| cd $GOPATH/src/github.com/RoboCup-SSL/ssl-simulation-controller/ | ||
| ``` | ||
|
|
||
| ### Run | ||
| Run the backend: | ||
| ```bash | ||
| go run cmd/ssl-simulation-controller/main.go | ||
| ``` |
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| package main | ||
|
|
||
| import ( | ||
| "flag" | ||
| "github.com/RoboCup-SSL/ssl-simulation-controller/internal/simctl" | ||
| "os" | ||
| "os/signal" | ||
| "syscall" | ||
| ) | ||
|
|
||
| var visionAddress = flag.String("visionAddress", "224.5.23.2:10006", "The address (ip+port) from which vision packages are received") | ||
| var trackerAddress = flag.String("trackerAddress", "224.5.23.2:10010", "The address (ip+port) from which tracker packages are received") | ||
| var refereeAddress = flag.String("refereeAddress", "224.5.23.1:10003", "The address (ip+port) from which referee packages are received") | ||
| var simControlPort = flag.String("simControlPort", "10300", "The port to which simulation control packets are send") | ||
|
|
||
| func main() { | ||
| flag.Parse() | ||
| ctl := simctl.NewSimulationController(*visionAddress, *refereeAddress, *trackerAddress, *simControlPort) | ||
| ctl.Start() | ||
|
|
||
| signals := make(chan os.Signal, 1) | ||
| signal.Notify(signals, syscall.SIGINT, syscall.SIGTERM) | ||
| <-signals | ||
| ctl.Stop() | ||
| } |
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| #!/bin/bash | ||
|
|
||
| # Fail on errors | ||
| set -e | ||
| # Print commands | ||
| set -x | ||
|
|
||
| # common GC | ||
| protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_gc_common.proto | ||
| protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_gc_geometry.proto | ||
|
|
||
| # vision | ||
| protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_vision_detection.proto | ||
| protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_vision_geometry.proto | ||
| protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_vision_wrapper.proto | ||
|
|
||
| # tracked vision | ||
| protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_vision_detection_tracked.proto | ||
| protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_vision_wrapper_tracked.proto | ||
|
|
||
| # game events | ||
| protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_gc_game_event.proto | ||
|
|
||
| # referee message | ||
| protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_gc_referee_message.proto | ||
|
|
||
| # simulation control | ||
| protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_simulation_error.proto | ||
| protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_simulation_config.proto | ||
| protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_simulation_control.proto |
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| module github.com/RoboCup-SSL/ssl-simulation-controller | ||
|
|
||
| go 1.15 | ||
|
|
||
| require ( | ||
| github.com/golang/protobuf v1.4.3 | ||
| google.golang.org/protobuf v1.25.0 | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,67 @@ | ||
| cloud.google.com/go v0.26.0/go.mod h1:aQUYkXzVsufM+DwF1aE+0xfcU+56JwCaLick0ClmMTw= | ||
| github.com/BurntSushi/toml v0.3.1/go.mod h1:xHWCNGjB5oqiDr8zfno3MHue2Ht5sIBksp03qcyfWMU= | ||
| github.com/census-instrumentation/opencensus-proto v0.2.1/go.mod h1:f6KPmirojxKA12rnyqOA5BBL4O983OfeGPqjHWSTneU= | ||
| github.com/client9/misspell v0.3.4/go.mod h1:qj6jICC3Q7zFZvVWo7KLAzC3yx5G7kyvSDkc90ppPyw= | ||
| github.com/envoyproxy/go-control-plane v0.9.1-0.20191026205805-5f8ba28d4473/go.mod h1:YTl/9mNaCwkRvm6d1a2C3ymFceY/DCBVvsKhRF0iEA4= | ||
| github.com/envoyproxy/protoc-gen-validate v0.1.0/go.mod h1:iSmxcyjqTsJpI2R4NaDN7+kN2VEUnK/pcBlmesArF7c= | ||
| github.com/golang/glog v0.0.0-20160126235308-23def4e6c14b/go.mod h1:SBH7ygxi8pfUlaOkMMuAQtPIUF8ecWP5IEl/CR7VP2Q= | ||
| github.com/golang/mock v1.1.1/go.mod h1:oTYuIxOrZwtPieC+H1uAHpcLFnEyAGVDL/k47Jfbm0A= | ||
| github.com/golang/protobuf v1.2.0/go.mod h1:6lQm79b+lXiMfvg/cZm0SGofjICqVBUtrP5yJMmIC1U= | ||
| github.com/golang/protobuf v1.3.2/go.mod h1:6lQm79b+lXiMfvg/cZm0SGofjICqVBUtrP5yJMmIC1U= | ||
| github.com/golang/protobuf v1.4.0-rc.1/go.mod h1:ceaxUfeHdC40wWswd/P6IGgMaK3YpKi5j83Wpe3EHw8= | ||
| github.com/golang/protobuf v1.4.0-rc.1.0.20200221234624-67d41d38c208/go.mod h1:xKAWHe0F5eneWXFV3EuXVDTCmh+JuBKY0li0aMyXATA= | ||
| github.com/golang/protobuf v1.4.0-rc.2/go.mod h1:LlEzMj4AhA7rCAGe4KMBDvJI+AwstrUpVNzEA03Pprs= | ||
| github.com/golang/protobuf v1.4.0-rc.4.0.20200313231945-b860323f09d0/go.mod h1:WU3c8KckQ9AFe+yFwt9sWVRKCVIyN9cPHBJSNnbL67w= | ||
| github.com/golang/protobuf v1.4.0/go.mod h1:jodUvKwWbYaEsadDk5Fwe5c77LiNKVO9IDvqG2KuDX0= | ||
| github.com/golang/protobuf v1.4.1/go.mod h1:U8fpvMrcmy5pZrNK1lt4xCsGvpyWQ/VVv6QDs8UjoX8= | ||
| github.com/golang/protobuf v1.4.3 h1:JjCZWpVbqXDqFVmTfYWEVTMIYrL/NPdPSCHPJ0T/raM= | ||
| github.com/golang/protobuf v1.4.3/go.mod h1:oDoupMAO8OvCJWAcko0GGGIgR6R6ocIYbsSw735rRwI= | ||
| github.com/google/go-cmp v0.2.0/go.mod h1:oXzfMopK8JAjlY9xF4vHSVASa0yLyX7SntLO5aqRK0M= | ||
| github.com/google/go-cmp v0.3.0/go.mod h1:8QqcDgzrUqlUb/G2PQTWiueGozuR1884gddMywk6iLU= | ||
| github.com/google/go-cmp v0.3.1/go.mod h1:8QqcDgzrUqlUb/G2PQTWiueGozuR1884gddMywk6iLU= | ||
| github.com/google/go-cmp v0.4.0/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/gNBxE= | ||
| github.com/google/go-cmp v0.5.0 h1:/QaMHBdZ26BB3SSst0Iwl10Epc+xhTquomWX0oZEB6w= | ||
| github.com/google/go-cmp v0.5.0/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/gNBxE= | ||
| github.com/prometheus/client_model v0.0.0-20190812154241-14fe0d1b01d4/go.mod h1:xMI15A0UPsDsEKsMN9yxemIoYk6Tm2C1GtYGdfGttqA= | ||
| golang.org/x/crypto v0.0.0-20190308221718-c2843e01d9a2/go.mod h1:djNgcEr1/C05ACkg1iLfiJU5Ep61QUkGW8qpdssI0+w= | ||
| golang.org/x/exp v0.0.0-20190121172915-509febef88a4/go.mod h1:CJ0aWSM057203Lf6IL+f9T1iT9GByDxfZKAQTCR3kQA= | ||
| golang.org/x/lint v0.0.0-20181026193005-c67002cb31c3/go.mod h1:UVdnD1Gm6xHRNCYTkRU2/jEulfH38KcIWyp/GAMgvoE= | ||
| golang.org/x/lint v0.0.0-20190227174305-5b3e6a55c961/go.mod h1:wehouNa3lNwaWXcvxsM5YxQ5yQlVC4a0KAMCusXpPoU= | ||
| golang.org/x/lint v0.0.0-20190313153728-d0100b6bd8b3/go.mod h1:6SW0HCj/g11FgYtHlgUYUwCkIfeOF89ocIRzGO/8vkc= | ||
| golang.org/x/net v0.0.0-20180724234803-3673e40ba225/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4= | ||
| golang.org/x/net v0.0.0-20180826012351-8a410e7b638d/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4= | ||
| golang.org/x/net v0.0.0-20190213061140-3a22650c66bd/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4= | ||
| golang.org/x/net v0.0.0-20190311183353-d8887717615a/go.mod h1:t9HGtf8HONx5eT2rtn7q6eTqICYqUVnKs3thJo3Qplg= | ||
| golang.org/x/oauth2 v0.0.0-20180821212333-d2e6202438be/go.mod h1:N/0e6XlmueqKjAGxoOufVs8QHGRruUQn6yWY3a++T0U= | ||
| golang.org/x/sync v0.0.0-20180314180146-1d60e4601c6f/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM= | ||
| golang.org/x/sync v0.0.0-20181108010431-42b317875d0f/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM= | ||
| golang.org/x/sync v0.0.0-20190423024810-112230192c58/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM= | ||
| golang.org/x/sys v0.0.0-20180830151530-49385e6e1522/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY= | ||
| golang.org/x/sys v0.0.0-20190215142949-d0b11bdaac8a/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY= | ||
| golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ= | ||
| golang.org/x/tools v0.0.0-20190114222345-bf090417da8b/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ= | ||
| golang.org/x/tools v0.0.0-20190226205152-f727befe758c/go.mod h1:9Yl7xja0Znq3iFh3HoIrodX9oNMXvdceNzlUR8zjMvY= | ||
| golang.org/x/tools v0.0.0-20190311212946-11955173bddd/go.mod h1:LCzVGOaR6xXOjkQ3onu1FJEFr0SW1gC7cKk1uF8kGRs= | ||
| golang.org/x/tools v0.0.0-20190524140312-2c0ae7006135/go.mod h1:RgjU9mgBXZiqYHBnxXauZ1Gv1EHHAz9KjViQ78xBX0Q= | ||
| golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543 h1:E7g+9GITq07hpfrRu66IVDexMakfv52eLZ2CXBWiKr4= | ||
| golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0= | ||
| google.golang.org/appengine v1.1.0/go.mod h1:EbEs0AVv82hx2wNQdGPgUI5lhzA/G0D9YwlJXL52JkM= | ||
| google.golang.org/appengine v1.4.0/go.mod h1:xpcJRLb0r/rnEns0DIKYYv+WjYCduHsrkT7/EB5XEv4= | ||
| google.golang.org/genproto v0.0.0-20180817151627-c66870c02cf8/go.mod h1:JiN7NxoALGmiZfu7CAH4rXhgtRTLTxftemlI0sWmxmc= | ||
| google.golang.org/genproto v0.0.0-20190819201941-24fa4b261c55/go.mod h1:DMBHOl98Agz4BDEuKkezgsaosCRResVns1a3J2ZsMNc= | ||
| google.golang.org/genproto v0.0.0-20200526211855-cb27e3aa2013/go.mod h1:NbSheEEYHJ7i3ixzK3sjbqSGDJWnxyFXZblF3eUsNvo= | ||
| google.golang.org/grpc v1.19.0/go.mod h1:mqu4LbDTu4XGKhr4mRzUsmM4RtVoemTSY81AxZiDr8c= | ||
| google.golang.org/grpc v1.23.0/go.mod h1:Y5yQAOtifL1yxbo5wqy6BxZv8vAUGQwXBOALyacEbxg= | ||
| google.golang.org/grpc v1.27.0/go.mod h1:qbnxyOmOxrQa7FizSgH+ReBfzJrCY1pSN7KXBS8abTk= | ||
| google.golang.org/protobuf v0.0.0-20200109180630-ec00e32a8dfd/go.mod h1:DFci5gLYBciE7Vtevhsrf46CRTquxDuWsQurQQe4oz8= | ||
| google.golang.org/protobuf v0.0.0-20200221191635-4d8936d0db64/go.mod h1:kwYJMbMJ01Woi6D6+Kah6886xMZcty6N08ah7+eCXa0= | ||
| google.golang.org/protobuf v0.0.0-20200228230310-ab0ca4ff8a60/go.mod h1:cfTl7dwQJ+fmap5saPgwCLgHXTUD7jkjRqWcaiX5VyM= | ||
| google.golang.org/protobuf v1.20.1-0.20200309200217-e05f789c0967/go.mod h1:A+miEFZTKqfCUM6K7xSMQL9OKL/b6hQv+e19PK+JZNE= | ||
| google.golang.org/protobuf v1.21.0/go.mod h1:47Nbq4nVaFHyn7ilMalzfO3qCViNmqZ2kzikPIcrTAo= | ||
| google.golang.org/protobuf v1.22.0/go.mod h1:EGpADcykh3NcUnDUJcl1+ZksZNG86OlYog2l/sGQquU= | ||
| google.golang.org/protobuf v1.23.0/go.mod h1:EGpADcykh3NcUnDUJcl1+ZksZNG86OlYog2l/sGQquU= | ||
| google.golang.org/protobuf v1.23.1-0.20200526195155-81db48ad09cc/go.mod h1:EGpADcykh3NcUnDUJcl1+ZksZNG86OlYog2l/sGQquU= | ||
| google.golang.org/protobuf v1.25.0 h1:Ejskq+SyPohKW+1uil0JJMtmHCgJPJ/qWTxr8qp+R4c= | ||
| google.golang.org/protobuf v1.25.0/go.mod h1:9JNX74DMeImyA3h4bdi1ymwjUzf21/xIlbajtzgsN7c= | ||
| honnef.co/go/tools v0.0.0-20190102054323-c2f93a96b099/go.mod h1:rf3lG4BRIbNafJWhAfAdb/ePZxsR/4RtNHQocxwk9r4= | ||
| honnef.co/go/tools v0.0.0-20190523083050-ea95bdfd59fc/go.mod h1:rf3lG4BRIbNafJWhAfAdb/ePZxsR/4RtNHQocxwk9r4= |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,61 @@ | ||
| package geom | ||
|
|
||
| import ( | ||
| "fmt" | ||
| "math" | ||
| ) | ||
|
|
||
| // NewVector2 creates a new Vector2 from float64 values | ||
| func NewVector2(x, y float64) *Vector2 { | ||
| return NewVector2Float32(float32(x), float32(y)) | ||
| } | ||
|
|
||
| // NewVector2Float32 creates a new Vector2 from float32 values | ||
| func NewVector2Float32(x, y float32) *Vector2 { | ||
| return &Vector2{X: &x, Y: &y} | ||
| } | ||
|
|
||
| // Length returns the length of this vector | ||
| func (m *Vector2) Length() float64 { | ||
| x := *m.X | ||
| y := *m.Y | ||
| return math.Sqrt(float64(x*x + y*y)) | ||
| } | ||
|
|
||
| // Sub subtracts the given vector from this one | ||
| func (m *Vector2) Sub(o *Vector2) *Vector2 { | ||
| return NewVector2Float32(*m.X-*o.X, *m.Y-*o.Y) | ||
| } | ||
|
|
||
| // DistanceTo returns the distance between this vector and the given one | ||
| func (m *Vector2) DistanceTo(o *Vector2) float64 { | ||
| return m.Sub(o).Length() | ||
| } | ||
|
|
||
| // X64 returns the x value as float64 | ||
| func (m *Vector2) X64() float64 { | ||
| return float64(*m.X) | ||
| } | ||
|
|
||
| // Y64 returns the y value as float64 | ||
| func (m *Vector2) Y64() float64 { | ||
| return float64(*m.Y) | ||
| } | ||
|
|
||
| // ToVector2 converts this vector into a new 2d vector, dropping the z part | ||
| func (m *Vector3) ToVector2() *Vector2 { | ||
| return NewVector2Float32(*m.X, *m.Y) | ||
| } | ||
|
|
||
| // StringPretty converts the vector into a pretty printed string | ||
| func (m *Vector2) StringPretty() string { | ||
| x := float32(0) | ||
| y := float32(0) | ||
| if m.X != nil { | ||
| x = *m.X | ||
| } | ||
| if m.Y != nil { | ||
| y = *m.Y | ||
| } | ||
| return fmt.Sprintf("x: %v, y: %v", x, y) | ||
| } |
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