@Override
public void paint(Graphics2D g) {
// create graphics with reset transform
Graphics2D g2 = (Graphics2D) g.create();
g2.setTransform(new AffineTransform());
g2.setColor(new Color(255, 255, 255));
g2.setFont(new Font("Consolas", Font.PLAIN, 12));
g2.drawString("State: " + state, 160.0f, 20.0f);
g2.drawString("Guessed angle: " + ramses.getGuessedAngleToGoal(), 160.0f, 42.0f);
// highlight the ball we're after
if (state == State.FETCH && realTargetId != -1) {
Ball ball = ramses.getGameInfo().getBallById(realTargetId);
if (ball != null) {
float radius = ball.getRadius();
g.setStroke(new BasicStroke(0.02f));
if (ramses.getSide() == Simulation.Side.YELLOW) {
g.setColor(new Color(220, 220, 0));
} else {
g.setColor(new Color(0, 0, 220));
}
g.draw(
new Ellipse2D.Float(
ball.getX() - radius, ball.getY() - radius, radius * 2.0f, radius * 2.0f));
}
}
}
private void stepGuessedAngleUpdater(float dt) {
List<Camera.GoalInfo> goals = ramses.getCamera().getVisibleGoals();
Simulation.Side oppositeSide =
ramses.getSide() == Simulation.Side.BLUE ? Simulation.Side.YELLOW : Simulation.Side.BLUE;
for (Camera.GoalInfo goal : goals) {
if (goal.side == oppositeSide) {
ramses.setGuessedAngleToGoal(goal.angle / (float) Math.PI * 180.0f);
} else {
ramses.setGuessedAngleToGoal(goal.angle / (float) Math.PI * 180.0f - 180.0f);
}
}
}
private void stepSearchGoal(float dt) {
if (!stateReady) {
targetGoalSightDuration = -1.0f;
searchYawDir = 1.0f;
stateReady = true;
}
if (!ramses.getDribbler().hasBall()) {
setState(State.SEARCH_BALL);
return;
}
ramses.setPower(0.0f);
List<Camera.GoalInfo> goals = ramses.getCamera().getVisibleGoals();
Simulation.Side oppositeSide =
ramses.getSide() == Simulation.Side.BLUE ? Simulation.Side.YELLOW : Simulation.Side.BLUE;
Camera.GoalInfo oppositeGoal = null;
for (Camera.GoalInfo goal : goals) {
if (goal.side == oppositeSide) {
oppositeGoal = goal;
if (targetGoalSightDuration == -1.0f) {
targetGoalSightDuration = 0.0f;
float guessedAngle = ramses.getGuessedAngleToGoal();
if (guessedAngle > 0.0f && guessedAngle < 180.0f) {
searchYawDir = 1.0f;
} else {
searchYawDir = -1.0f;
}
} else {
targetGoalSightDuration += dt;
}
break;
}
}
if (oppositeGoal != null) {
if (targetGoalSightDuration < 0.2f) {
// quick brake when first sighting the goal
float guessedAngle = ramses.getGuessedAngleToGoal();
if (guessedAngle > 0.0f) {
ramses.setYawRate(-1.0f);
} else {
ramses.setYawRate(1.0f);
}
} else {
// we can see the goal, turn to it
float angleDegrees = oppositeGoal.angle / (float) Math.PI * 180.0f;
// we know the angle right know, set it to improve guess later
ramses.setGuessedAngleToGoal(angleDegrees);
// the required accuracy depends on how far away the goal is - the closer
// we are, the more we can miss the center
float requiredAccuracy = Math.max(10.0f / (oppositeGoal.distance * 5.0f), 2.0f);
if (angleDegrees <= requiredAccuracy) {
// goal is centered, shoot!
ramses.kick();
targetId = -1;
realTargetId = -1;
} else {
// goal is not centered enough, correct
float yawRate = Math.max(Math.min(angleDegrees / 30.0f, 1.0f), -1.0f);
ramses.setYawRate(yawRate);
}
}
} else {
ramses.setYawRate(0.25f * searchYawDir);
targetGoalSightDuration = -1.0f;
}
}