Esempio n. 1
0
  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);
  }
Esempio n. 2
0
  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;
  }
Esempio n. 3
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  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);
  }
Esempio n. 4
0
  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);
  }