public void step() {
if (hasPuck()) // If we have the puck.
skate(2600, 0, 1000); // Skate towards the goal.
else if (Util.dist(
getX() - getPuck().getX(), // If the puck is within 5m.
getY() - getPuck().getY())
< 500) skate(getPuck(), 1000); // Get puck
else {
IPlayer best = null;
for (int i = 0; i < 12; ++i) { // Loop through all players.
IPlayer cur = getPlayer(i);
if (cur.isOpponent()
&& // If player is opponent...
(best == null
|| Util.dist(
getX() - cur.getX(), // ...and closest so far...
getY() - cur.getY())
< Util.dist(getX() - best.getX(), getY() - best.getY())))
best = cur; // ...save player.
}
skate(best, 1000); // Tackle closest opponent.
}
}
// Intelligence of goalie.
public void step() {
IPuck puck = getPuck();
if (hasPuck()) {
shoot(getPlayer(1), 200);
return;
}
if (puck.getSpeed() > 60 && puck.getX() > -2600) {
double angle = puck.getHeading();
if (angle < 0) angle += 360;
double theLastAngle = lastAngle;
lastAngle = angle;
if (theLastAngle > -1000) angle = (angle + theLastAngle) / 2; // smoothing
if (angle > 95 && angle < 265) {
angle *= 3.14159 / 180.0;
double dx = -Math.cos(angle), dy = Math.sin(angle);
double Dx = puck.getX() - (-2600), Dy = puck.getY();
dy *= Dx / dx;
dy += puck.getY();
if (-120 < dy && dy < 120) {
// will hit dy! shit
// setMessage("shit shit shit " + puck.getHeading() + " " + String.format("%.2f", dy));
int speed;
dy = Util.clampAbs(dy, 100);
if (puck.isHeld()) {
speed = 20;
} else {
double timeToGoal = (Dx - 80) / (dx * puck.getSpeed());
dbgStr += String.format(" | %.0f -> %.0f t = %.1f, ", (double) getY(), dy, timeToGoal);
if (timeToGoal <= 0) {
speed = MAX_GLIDE;
} else {
double wantedSpeed = (dy - getY()) / (double) timeToGoal;
int cur = getGlide();
dbgStr += " gl " + String.format("%.0f %.0f ", (double) cur, wantedSpeed);
int bestSpeed = 0;
double bestDif = 100000;
for (int sp = -440; sp <= 440; sp += 2) {
double r = Math.abs(sp - cur) / (double) ACCELERATION / timeToGoal;
// if (r > 1) continue;
double res = (cur + sp) * r / 2 + sp * (1 - r);
double d = Math.abs(res - wantedSpeed);
if (d < bestDif) {
bestDif = d;
bestSpeed = sp;
}
}
speed = Util.clampPos(Math.abs(bestSpeed), 444);
dbgStr += " best " + speed;
}
}
skate(GOAL_POSITION.getX() + 60, (int) dy, speed);
turn(getPuck(), MAX_TURN_SPEED);
return;
}
// else setMessage("puh position " + String.format("%.2f", dy));
}
// else setMessage("puh angle " + angle + dbgStr);
}
// else setMessage("puh speed " + puck.getSpeed() + dbgStr);
lastAngle = -1000;
// slow or wrong; keep it safe
IPlayer holder = puck.getHolder();
if (holder != null
&& holder.getX() - (-2600) > 0
&& Math.abs(holder.getY()) > Math.abs(holder.getX() - (-2600)) * 0.7) {
// outside a cone - move to side
skate(GOAL_POSITION.getX() + 40, Util.clampAbs(puck.getY(), 100), MAX_GLIDE);
turn(puck, MAX_TURN_SPEED);
} else { // if (Math.random() < 0.7) {
// protect
int y = Util.clampAbs(puck.isHeld() ? holder.getY() / 4 : 0, 100);
skate(GOAL_POSITION.getX() + 60, y, 30);
turn(0, MAX_TURN_SPEED);
}
}