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;
}