/**
* Add a spline to the path
*
* @param wFrame
* @param path
* @param pfi
*/
public void addAHermiteSpline(
final SimpleWorldFrame wFrame, final Path path, final PathFinderInput pfi) {
TrackedTigerBot bot = wFrame.getBot(pfi.getBotId());
float dstOrient = pfi.getDstOrient();
List<IVector2> mPath = new ArrayList<IVector2>();
mPath.add(DistanceUnit.MILLIMETERS.toMeters(bot.getPos()));
for (IVector2 p : path.getPath()) {
mPath.add(DistanceUnit.MILLIMETERS.toMeters(p));
}
if (pfi.getMoveCon().getSpeed() > 0) {
trajGeneratorMove.setPositionTrajParams(
pfi.getMoveCon().getSpeed(), Sisyphus.maxLinearAcceleration);
} else {
trajGeneratorMove.setPositionTrajParams(
Sisyphus.maxLinearVelocity, Sisyphus.maxLinearAcceleration);
}
trajGeneratorMove.setRotationTrajParams(maxRotateVelocity, Sisyphus.maxRotateAcceleration);
trajGeneratorMove.setSplineParams(normalAngleToSpeed);
trajGeneratorMove.setReducePathScore(pathReductionScore);
SplinePair3D trajectories =
trajGeneratorMove.create(
mPath,
bot.getVel(),
pfi.getMoveCon().getVelAtDestination(),
bot.getAngle(),
dstOrient,
bot.getaVel(),
0);
path.setHermiteSpline(trajectories);
trajectories.setStartTime(System.nanoTime());
}
@Override
public void doCalc(final TacticalField newTacticalField, final BaseAiFrame baseAiFrame) {
WorldFrame wFrame = baseAiFrame.getWorldFrame();
IBotIDMap<TrackedTigerBot> bots = wFrame.tigerBotsAvailable;
for (TrackedTigerBot bot : bots.values()) {
BotID botId = bot.getId();
BotAiInformation aiInfo = new BotAiInformation();
aiInfo.setBallContact(bot.hasBallContact());
aiInfo.setVel(bot.getVel());
Path path = baseAiFrame.getPrevFrame().getAresData().getLatestPaths().get(botId);
aiInfo.setPathPlanning(path != null);
aiInfo.setNumPaths(baseAiFrame.getPrevFrame().getAresData().getNumberOfPaths(botId));
ABot aBot = bot.getBot();
if (aBot != null) {
aiInfo.setBattery(aBot.getBatteryLevel());
aiInfo.setKickerCharge(aBot.getKickerLevel());
}
play:
for (APlay play : baseAiFrame.getPrevFrame().getPlayStrategy().getActivePlays()) {
for (ARole role : play.getRoles()) {
if (role.getBotID().equals(botId)) {
aiInfo.setPlay(play.getType().name());
aiInfo.setRole(role.getType().name());
ISkill skill = role.getCurrentSkill();
if (skill != null) {
aiInfo.setSkill(skill.getSkillName().name());
} else {
aiInfo.setSkill("no skill");
}
aiInfo.setRoleState(role.getCurrentState().name());
ISkill moveSkill = role.getCurrentSkill();
if (moveSkill instanceof MoveToSkill) {
MovementCon moveCon = ((MoveToSkill) moveSkill).getMoveCon();
aiInfo.addCondition(moveCon.getDestCon().getCondition());
aiInfo.addCondition(moveCon.getAngleCon().getCondition());
}
break play;
}
}
}
newTacticalField.getBotAiInformation().put(botId, aiInfo);
}
}
