@Override
public void onStep(Controller controller, Snapshot snapshot) throws ConfusedException {
// get our robot and the ball
Robot ourRobot = snapshot.getBalle();
Ball ball = snapshot.getBall();
// if neither the ball nor the robot can be found then return
if ((ourRobot.getPosition() == null) || (ball.getPosition() == null)) {
return;
}
Strategy strategy = getStrategy(snapshot);
LOG.debug("Selected strategy: " + strategy.getClass().getName());
// use strategy that was chosen
setCurrentStrategy(strategy.getClass().getName());
try {
strategy.step(controller, snapshot);
} catch (ConfusedException e) {
// If a strategy does not know what to do
LOG.error("Wut Wut?", e);
// Default to goToBallPFN
Intercept.step(controller, snapshot);
}
}
public MovementDirection getMovementDirection(Snapshot snapshot) {
Robot opponent = snapshot.getOpponent();
Robot ourRobot = snapshot.getBalle();
Goal ourGoal = snapshot.getOwnGoal();
Ball ball = snapshot.getBall();
if ((opponent.getPosition() == null) || (ourRobot.getPosition() == null))
return MovementDirection.NONE;
Coord intersectionPoint = null;
if ((ball.getPosition() != null) && (!ball.getPosition().isEstimated()))
intersectionPoint =
opponent.getBallKickLine(ball).getIntersect(ourRobot.getFacingLineBothWays());
if (intersectionPoint == null)
intersectionPoint = opponent.getFacingLine().getIntersect(ourRobot.getFacingLineBothWays());
if (intersectionPoint == null) return MovementDirection.NONE;
double yCoord = intersectionPoint.getY();
yCoord = Math.max(yCoord, ourGoal.getMinY() + Globals.ROBOT_LENGTH / 3);
yCoord = Math.min(yCoord, ourGoal.getMaxY() - Globals.ROBOT_LENGTH / 3);
Coord targetPoint = new Coord(ourRobot.getPosition().getX(), yCoord);
addDrawable(new Dot(targetPoint, Color.WHITE));
boolean isUpward;
Orientation ourOrientation = ourRobot.getOrientation();
if ((ourOrientation.radians() >= 0) && (ourOrientation.radians() < Math.PI)) isUpward = true;
else isUpward = false;
// If we are already blocking the point stop
if (ourRobot.containsCoord(targetPoint)) return MovementDirection.NONE;
double diff = (targetPoint.getY() - ourRobot.getPosition().getY());
if (diff > 0)
if (isUpward) return MovementDirection.FORWARD;
else return MovementDirection.BACKWARD;
else if (isUpward) return MovementDirection.BACKWARD;
else return MovementDirection.FORWARD;
}