private void kickBall(PlayerInterface player) {
// calculate the dot product of the vector pointing to the ball
// and the player's heading
Vector2D ToBall = player.Ball().Pos().subtractToCopy(player.Pos());
double dot = player.Heading().Dot(ToBall.normalizeToCopy());
// the dot product is used to adjust the shooting force. The more
// directly the ball is ahead, the more forceful the kick
double power = Prm.MaxShootingForce * dot;
// Try to setup a pass
PlayerInterface receiver = player.Team().getSomeoneElse(player);
if (receiver != null) {
Vector2D BallTarget = receiver.Pos().subtractToCopy(player.Ball().Pos());
// BallTarget=AddNoiseToKick(player.Ball().Pos(), BallTarget);
if (player.isReadyForNextKick()) {
receiver.receiveMessage(new ReceivePassTelegram());
player.Kick(BallTarget, Prm.MaxShootingForce);
}
} else {
System.err.println("In RL-kickBall, no receivers?");
Vector2D KickDirection = new Vector2D(Math.random() - .5d, Math.random() - .5d);
if (player.isReadyForNextKick()) {
player.Kick(KickDirection, power);
} else {
System.err.println(
"RL Version ofkickBall was called when agent was not ready for kick, shouldn't happen");
}
}
// change state
player.GetFSM().changeState(ChaseBall.Instance());
}
@Override
public void enter(PlayerInterface player) {
// let the team know this player is controlling
player.Team().setControllingPlayer(player);
// the player can only make so many kick attempts per second.
if (!player.isReadyForNextKick()) {
player.GetFSM().changeState(ChaseBall.Instance());
if (debugThis) {
System.out.println(
"Player: " + player.ID() + " set to " + player.GetFSM().getCurrentState().getClass());
}
} else {
KeepAwayGlueSupport.getInstance().setPlayerToAct(player);
}
}
private void stopBall(PlayerInterface player) {
// This would be a condition where it would be sensible to stop the ball
// if(player.Ball().Velocity().LengthSq()>Prm.holdingBallSpeed){
System.out.println("Trying to stop the ball!");
Vector2D randomSmallVector = new Vector2D(Utilities.RandomClamped(), Utilities.RandomClamped());
// The illusion of stopping the ball
if (player.isReadyForNextKick()) {
player.Ball().setPos(randomSmallVector.add(player.Pos()));
Vector2D BallTarget = player.Ball().Pos().addToCopy(player.Ball().Velocity());
player.Kick(BallTarget, Prm.StoppingForce);
} else {
System.err.println(
"RL Version of stop ball was called when agent was not ready for kick, shouldn't happen");
}
// change state
player.GetFSM().changeState(ChaseBall.Instance());
}
// @Override
public void execute(PlayerInterface player) {
// Get the action
Action theAction = KeepAwayGlueSupport.getInstance().popAction();
if (theAction == null) {
throw new IllegalStateException(
"Execute was called on WaitForAgentChoice but there is no action in the hopper!");
}
int primitiveAction = theAction.intArray[0];
if (primitiveAction == 0) stopBall(player);
if (primitiveAction == 1) dribbleBall(player);
if (primitiveAction == 2) kickBall(player);
if (debugThis) {
System.out.println(
"Player: " + player.ID() + " set to " + player.GetFSM().getCurrentState().getClass());
}
}
private void dribbleBall(PlayerInterface player) {
player.GetFSM().changeState(DribbleBall.Instance());
}