@Override
public Action getNextAction(WorldState state) {
RobotInfo self = state.getSelf();
if (state.isBallNearWall()) {
/*
* ball is near the wall, so turn to face towards the front,
* not towards the ball, because if the ball is exactly next
* to the wall, we will not be able to kick.
*/
return Spin.ToFace(
new Point(state.getTargetGoalCenter().getX(), self.getPosition().getY()), self);
}
Point ball = state.getBall().getPosition();
if (Math.abs(ball.getX() - state.getTargetGoalCenter().getX()) < RobotInfo.ROBOT_SIZE
&& (ball.getY() < state.getTargetGoalTop().getY()
|| ball.getY() > state.getTargetGoalBottom().getY())) {
/*
* ball is in a corner near the opponent goal, so turn to face
* towards the front, not towards the ball, because if the ball
* is exactly next to the wall, we will not be able to kick.
*/
return Spin.ToFace(
new Point(state.getTargetGoalCenter().getX(), self.getPosition().getY()), self);
}
return Spin.ToFace(Path.getClearShotPosition(state), self);
}
@Override
public double getUtility(WorldState state) {
/*if (!state.isBallInPossession())
{
return 0;
}*/
if (state.isBallInOppPossession()) {
return 0;
}
if (!state.isShotPossible()) {
return 0;
}
double utility = 0.47;
/*
*return 0 if we are too far away from the ball
*/
if (!state.areWeNextToBall()) {
return 0;
}
/*
* check if we are already facing the goal
*/
double ang = state.getSelf().getRelativeAngleTo(Path.getClearShotPosition(state));
if (ang > -10 && ang < 10) {
/*
* we are not facing the goal
*/
return 0;
}
/*
* check if the ball is not near a wall
*/
if (state.isBallNearWall()) {
/*
* ball is near a wall, check if we are already facing the ball
* and if we are not, increase the utility, so we can turn to
* face the ball.
*/
if (!state.areWeFacingStraight()) {
utility += 0.4;
return utility;
}
return 0;
}
if (Math.abs(state.getBall().getPosition().getX() - state.getTargetGoalCenter().getX())
< RobotInfo.ROBOT_SIZE
&& (state.getBall().getPosition().getY() < state.getTargetGoalTop().getY()
|| state.getBall().getPosition().getY() > state.getTargetGoalBottom().getY())) {
/*
* ball is near a wall, check if we are already facing the ball
* and if we are not, increase the utility, so we can turn to
* face the ball.
*/
if (!state.areWeFacingStraight()) {
utility += 0.4;
return utility;
}
return 0;
}
utility += 0.4;
/* double speed = Vector2D.getLen(state.getBall().getVelocity());
int moving = 10*60; // convert 10pix/s to 10pix/m
if (speed > moving) utility -= 0.2;
else utility += 0.2;
*/
/*if (state.getDistanceOppToGoalCenter() > state.getDistanceSelfToGoalCenter())
{
utility += 0.2;
}
else
{
utility -= 0.2;
}*/
return utility;
}