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%% This a function of embed Graphical engine used optionally in simulator D2DSS

% It is responsable for plotting static graphicals structures of soccer field

% Central circle, goals lines, mid lines of field with aspects defined for parameters

% function showField(placarA,placarB,Nx,Ny,tempo,rgbImage)

%%

function showField(placarA,placarB,Nx,Ny,tempo,rgbImage)

gcf

%Drawing field in plot 2d

subplot(6,5,[6,30]);

imshow(rgbImage,'XData',[0+.15 3*Nx],'YData',[0+.35 3*Ny]);

axis on;grid on;

xlim([0 Nx*3]);

ylim([0 Ny*3]);

set(gca,'XTick',3:3:Nx*3);

set(gca,'YTick',3:3:Ny*3);

set(gca, 'XTickLabelMode', 'manual', 'XTickLabel', []);

set(gca, 'YTickLabelMode', 'manual', 'YTickLabel', []);

%Central mid circle plot

hold on;

numPoints=100;

radius=2.5;

theta=linspace(0,5*pi,numPoints);

rho=ones(1,numPoints)*radius;

[X,Y] = pol2cart(theta,rho); %circular function

plot(X+Nx/2*3,Y+Ny/2*3,'k-','linewidth',2);

%Central line in mid field

line([Nx/2*3,Nx/2*3],[-1,size(rgbImage,1)]+1,'Color','k');

%Goals areas

golA=rectangle('position',[0 (floor(Ny/2)*3-3) 3 9],'LineWidth',2);

set(golA,'FaceColor',[0.7,0.7,0.7]);

golB=rectangle('position',[Nx*3-3 (floor(Ny/2)*3-3) 3 9],'LineWidth',2);

set(golB,'FaceColor',[0.3,0.3,0.3]);

hold off;

end