@Override
public void processModel(CommandPlayer context, EnvironmentModel model) {
SeeBallInfo ball = model.getLastPercept().getLastSeenBall();
double agentAbsAngle = model.getAgentAbsAngleRadians();
double ballAngle = FastMath.toRadians(ball.getDirection());
double totalBallAngle = ballAngle + agentAbsAngle;
double goalAngle = model.getGoalAngle();
double angleBetweenBallAndGoal = totalBallAngle - goalAngle;
kickAtGoalAction.takeAction(context, model);
}
/**
*
*
* <ul>
* <li>Go to passive state if the ball is outside of movement range
* <li>Go to Defending state if the team doesnt have the ball and the agent doesnt have the ball
* <li>Go to Support state if the agent doesn't have the ball but the team does have the ball
* </ul>
*
* @param stateMachine State Machine to update.
* @param model Model containing the current game state.
*/
@Override
public void updateState(StateMachine stateMachine, EnvironmentModel model) {
if (!model.ballInMovementRange() && !model.agentHasBall()) {
stateMachine.changeState(StateMachine.PASSIVE_STATE, model);
return;
}
if (!model.teamHasBall() && !model.agentHasBall()) {
stateMachine.changeState(StateMachine.DEFENDING_STATE, model);
return;
}
if (!model.agentHasBall() && model.teamHasBall() && !model.isPlayerGoalKeeper()) {
stateMachine.changeState(StateMachine.SUPPORT_STATE, model);
}
}