@Override
public List<Command> makeStrategy() {
List<Command> commands = new ArrayList<Command>();
double power = 1;
for (int i = 0; i < canShoot.length; i++) {
if (currentSituation.myPlayersDetail()[canShoot[i]].getPower() < power) {
power = currentSituation.myPlayersDetail()[canShoot[i]].getPower();
}
}
if (isShootSituation(power)) {
double maxVertAngle = Constants.ANGULO_VERTICAL_MAX * Math.PI / 180;
double angleVert;
double angle =
currentSituation
.ballPosition()
.angle(Constants.posteDerArcoSup.movePosition(-Constants.RADIO_BALON, 0));
angle =
Math.min(
angle + 0.5 * Constants.getErrorAngular(1.0) / 2 * Math.PI,
currentSituation.ballPosition().angle(Constants.centroArcoSup));
double maxAngle =
currentSituation
.ballPosition()
.angle(Constants.posteIzqArcoSup.movePosition(Constants.RADIO_BALON, 0));
maxAngle =
Math.max(
maxAngle - 0.5 * Constants.getErrorAngular(1.0) / 2 * Math.PI,
currentSituation.ballPosition().angle(Constants.centroArcoSup));
ShootInfo shoot = new ShootInfo();
while (angle <= maxAngle) {
angleVert = 0;
while (angleVert <= maxVertAngle) {
shoot = compareShoot(shoot, evaluateShoot(power, angle, angleVert));
angleVert += Math.PI / 180;
}
angle += Math.PI / 180;
}
for (int player : canShoot) {
commands.add(
new CommandHitBall(
player, shoot.angle * 180 / Math.PI, 1, shoot.angleVert * 180 / Math.PI));
}
}
return commands;
}
private ShootInfo evaluateShoot(double power, double angle, double angleVert) {
TrajectoryMasia trajectory =
new TrajectoryMasia(
currentSituation.ballPosition(), Constants.getVelocidadRemate(power), angle, angleVert);
double fitness = 0, f;
for (int i = 0; i < trajectory.length; i++) {
if (i == 0) {
f =
calculateFitness(
trajectory.positions[i],
trajectory.z[i],
i + 1,
currentSituation.ballPosition(),
0);
} else {
f =
calculateFitness(
trajectory.positions[i],
trajectory.z[i],
i + 1,
trajectory.positions[i - 1],
trajectory.z[i - 1]);
}
fitness += f;
if (f > 1 || f == -1) {
break;
}
}
return new ShootInfo(angle, angleVert, fitness);
}
private boolean isShootSituation(double power) {
double factor =
Math.abs(Math.sin(currentSituation.ballPosition().angle(Constants.centroArcoSup)));
factor = 1 - (1 - factor) * (1 - factor);
return currentSituation.ballPosition().distance(Constants.centroArcoSup)
<= THRESHOLD
* factor
* Constants.getVelocidadRemate(power)
/ Constants.REMATE_VELOCIDAD_MAX;
}