From 5d5e3bca9a3538a35285ef9a90a5d423761646d4 Mon Sep 17 00:00:00 2001
From: Nicolai Ommer <nicolai.ommer@qaware.de>
Date: Fri, 7 Dec 2018 22:02:59 +0100
Subject: [PATCH] [bugfix] Fixed coordinates and rotation

---
 pkg/vision/converter.go | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/pkg/vision/converter.go b/pkg/vision/converter.go
index ca507ac..2222bc5 100644
--- a/pkg/vision/converter.go
+++ b/pkg/vision/converter.go
@@ -45,7 +45,7 @@ func ProtoToPackage(frame *sslproto.SSL_DetectionFrame, geometry *sslproto.SSL_G
 
 func createBallShape(ball *sslproto.SSL_DetectionBall) Circle {
 	return Circle{
-		Center: Point{*ball.X, *ball.Y},
+		Center: Point{*ball.X, -*ball.Y},
 		Radius: ballRadius,
 		Style: Style{
 			StrokeWidth: &ballStrokeWidth,
@@ -62,8 +62,8 @@ func addGeometryShapes(pack *Package, geometry *sslproto.SSL_GeometryData) {
 	pack.GoalDepth = float32(*geometry.Field.GoalDepth)
 	for _, line := range geometry.Field.FieldLines {
 		pack.Lines = append(pack.Lines, Line{
-			P1: Point{*line.P1.X, *line.P1.Y},
-			P2: Point{*line.P2.X, *line.P2.Y},
+			P1: Point{*line.P1.X, -*line.P1.Y},
+			P2: Point{*line.P2.X, -*line.P2.Y},
 			Style: Style{
 				Stroke:      &white,
 				StrokeWidth: &lineWidth,
@@ -72,7 +72,7 @@ func addGeometryShapes(pack *Package, geometry *sslproto.SSL_GeometryData) {
 	}
 	for _, arc := range geometry.Field.FieldArcs {
 		pack.Circles = append(pack.Circles, Circle{
-			Center: Point{*arc.Center.X, *arc.Center.Y},
+			Center: Point{*arc.Center.X, -*arc.Center.Y},
 			Radius: *arc.Radius,
 			Style: Style{
 				Stroke:      &white,
@@ -111,7 +111,7 @@ func goalLinesPositive(geometry *sslproto.SSL_GeometryData) (lines []Line) {
 func createBotPath(bot *sslproto.SSL_DetectionRobot, fillColor string) Path {
 	b := Bot{center2Dribbler, botRadius}
 	x := float64(*bot.X)
-	y := float64(*bot.Y)
+	y := -float64(*bot.Y)
 	o := float64(*bot.Orientation)
 	return Path{
 		D: []PathElement{
@@ -148,7 +148,7 @@ func createBotPath(bot *sslproto.SSL_DetectionRobot, fillColor string) Path {
 func createBotId(bot *sslproto.SSL_DetectionRobot, strokeColor string) Text {
 	return Text{
 		Text: strconv.Itoa(int(*bot.RobotId)),
-		P:    Point{*bot.X, *bot.Y},
+		P:    Point{*bot.X, -*bot.Y},
 		Style: Style{
 			Fill: &strokeColor,
 		},
@@ -165,17 +165,17 @@ func (b Bot) orient2CornerAngle() float64 {
 }
 
 func (b Bot) botRightX(orientation float64) float64 {
-	return math.Cos(orientation+b.orient2CornerAngle()) * b.botRadius
+	return math.Cos(-orientation+b.orient2CornerAngle()) * b.botRadius
 }
 
 func (b Bot) botRightY(orientation float64) float64 {
-	return math.Sin(orientation+b.orient2CornerAngle()) * b.botRadius
+	return math.Sin(-orientation+b.orient2CornerAngle()) * b.botRadius
 }
 
 func (b Bot) botLeftX(orientation float64) float64 {
-	return math.Cos(orientation-b.orient2CornerAngle()) * b.botRadius
+	return math.Cos(-orientation-b.orient2CornerAngle()) * b.botRadius
 }
 
 func (b Bot) botLeftY(orientation float64) float64 {
-	return math.Sin(orientation-b.orient2CornerAngle()) * b.botRadius
+	return math.Sin(-orientation-b.orient2CornerAngle()) * b.botRadius
 }