private void kickBall(PlayerInterface player) {
// calculate the dot product of the vector pointing to the ball
// and the player's heading
Vector2D ToBall = player.Ball().Pos().subtractToCopy(player.Pos());
double dot = player.Heading().Dot(ToBall.normalizeToCopy());
// the dot product is used to adjust the shooting force. The more
// directly the ball is ahead, the more forceful the kick
double power = Prm.MaxShootingForce * dot;
// Try to setup a pass
PlayerInterface receiver = player.Team().getSomeoneElse(player);
if (receiver != null) {
Vector2D BallTarget = receiver.Pos().subtractToCopy(player.Ball().Pos());
// BallTarget=AddNoiseToKick(player.Ball().Pos(), BallTarget);
if (player.isReadyForNextKick()) {
receiver.receiveMessage(new ReceivePassTelegram());
player.Kick(BallTarget, Prm.MaxShootingForce);
}
} else {
System.err.println("In RL-kickBall, no receivers?");
Vector2D KickDirection = new Vector2D(Math.random() - .5d, Math.random() - .5d);
if (player.isReadyForNextKick()) {
player.Kick(KickDirection, power);
} else {
System.err.println(
"RL Version ofkickBall was called when agent was not ready for kick, shouldn't happen");
}
}
// change state
player.GetFSM().changeState(ChaseBall.Instance());
}
