boolean BetweenGoal(Vec2 Opp, Vec2 Goal) {
Vec2 OpptoGoal = new Vec2(Goal.x, Goal.y);
OpptoGoal.sub(Opp);
Vec2 OpptoMe = new Vec2(CurMyPos.x, CurMyPos.y);
OpptoMe.sub(Opp);
if (Math.abs(OpptoGoal.t - OpptoMe.t) < BETWEEN_GOAL_ANGLE) {
return (true);
}
return (false);
}
boolean ClosestTo(Vec2 Me, Vec2 SpotAbs) {
// Stolen from Kechze
Vec2 temp = new Vec2(Me.x, Me.y);
temp.sub(SpotAbs);
double MyDist = temp.r;
for (int i = 0; i < CurTeammates.length; i++) {
temp = new Vec2(CurTeammates[i].x, CurTeammates[i].y);
temp.add(Me);
temp.sub(SpotAbs);
double TheirDist = temp.r;
if (TheirDist <= MyDist) return false;
}
return true;
}
Vec2 AttackMode() {
abstract_robot.setDisplayString("Attack");
Vec2 TargetSpot = new Vec2(CurBallPosEgo.x, CurBallPosEgo.y);
Vec2 GoalSpot = new Vec2(CurOpponentsGoal.x, CurOpponentsGoal.y);
if (CurMyPos.y > 0) GoalSpot.y += 0.9 * (GOAL_WIDTH / 2.0);
if (CurMyPos.y < 0) GoalSpot.y -= 0.9 * (GOAL_WIDTH / 2.0);
TargetSpot.sub(GoalSpot);
TargetSpot.setr(ROBOT_RADIUS);
TargetSpot.add(CurBallPosEgo);
if (Math.abs(CurOpponentsGoal.r) < KICK_DISTANCE) KickIt = true;
else KickIt = false;
return (TargetSpot);
}
Vec2 GoalieMode() {
abstract_robot.setDisplayString("Goalie");
Vec2 ReturnCmd = new Vec2(CurOurGoal.x, CurOurGoal.y);
// If we're too far out of goal in x dir, get back in!
Vec2 OurGoalAbs = new Vec2(CurOurGoal.x, CurOurGoal.y);
OurGoalAbs.add(CurMyPos);
if (Math.abs(CurMyPos.x) < Math.abs(OurGoalAbs.x * 0.9)) {
return (CurOurGoal);
}
// Otherwise, calculate projected ball trajectory
Vec2 BallDir = new Vec2(CurBallPos.x, CurBallPos.y);
BallDir.sub(PrevBallPos);
// If ball is headed into goal, block it!
ReturnCmd.setx(0);
boolean MoveUp = false;
boolean MoveDown = false;
if (CurMyPos.y < CurBallPos.y) MoveUp = true;
if (CurMyPos.y > CurBallPos.y) MoveDown = true;
if (CurMyPos.y > GOAL_WIDTH / 2.0) MoveUp = false;
if (CurMyPos.y < -GOAL_WIDTH / 2.0) MoveDown = false;
if (MoveDown && MoveUp) {
ReturnCmd.sety(0);
// System.out.println("Both " + CurMyPos.y + " " + CurBallPos.y);
} else if (MoveDown) {
ReturnCmd.sety(-1);
// System.out.println("Down");
} else if (MoveUp) {
ReturnCmd.sety(1);
// System.out.println("Up");
} else {
ReturnCmd.sety(0);
}
return (ReturnCmd);
}