boolean BetweenGoal(Vec2 Opp, Vec2 Goal) {
Vec2 OpptoGoal = new Vec2(Goal.x, Goal.y);
OpptoGoal.sub(Opp);
Vec2 OpptoMe = new Vec2(CurMyPos.x, CurMyPos.y);
OpptoMe.sub(Opp);
if (Math.abs(OpptoGoal.t - OpptoMe.t) < BETWEEN_GOAL_ANGLE) {
return (true);
}
return (false);
}
Vec2 TocchetMode() {
abstract_robot.setDisplayString("Tocchet");
Vec2 Goalie = new Vec2(99999, 0);
Vec2 GoalDistance = new Vec2(99999, 0);
Vec2 CmdReturn;
for (int i = 0; i < CurOpponents.length; i++) {
if (ClosestTo(CurOpponents[i], EgoToAbs(CurOpponentsGoal))) {
Goalie.setx(CurOpponents[i].x);
Goalie.sety(CurOpponents[i].y);
}
}
return (Goalie);
}
boolean ClosestTo(Vec2 Me, Vec2 SpotAbs) {
// Stolen from Kechze
Vec2 temp = new Vec2(Me.x, Me.y);
temp.sub(SpotAbs);
double MyDist = temp.r;
for (int i = 0; i < CurTeammates.length; i++) {
temp = new Vec2(CurTeammates[i].x, CurTeammates[i].y);
temp.add(Me);
temp.sub(SpotAbs);
double TheirDist = temp.r;
if (TheirDist <= MyDist) return false;
}
return true;
}
Vec2 GoalieMode() {
abstract_robot.setDisplayString("Goalie");
Vec2 ReturnCmd = new Vec2(CurOurGoal.x, CurOurGoal.y);
// If we're too far out of goal in x dir, get back in!
Vec2 OurGoalAbs = new Vec2(CurOurGoal.x, CurOurGoal.y);
OurGoalAbs.add(CurMyPos);
if (Math.abs(CurMyPos.x) < Math.abs(OurGoalAbs.x * 0.9)) {
return (CurOurGoal);
}
// Otherwise, calculate projected ball trajectory
Vec2 BallDir = new Vec2(CurBallPos.x, CurBallPos.y);
BallDir.sub(PrevBallPos);
// If ball is headed into goal, block it!
ReturnCmd.setx(0);
boolean MoveUp = false;
boolean MoveDown = false;
if (CurMyPos.y < CurBallPos.y) MoveUp = true;
if (CurMyPos.y > CurBallPos.y) MoveDown = true;
if (CurMyPos.y > GOAL_WIDTH / 2.0) MoveUp = false;
if (CurMyPos.y < -GOAL_WIDTH / 2.0) MoveDown = false;
if (MoveDown && MoveUp) {
ReturnCmd.sety(0);
// System.out.println("Both " + CurMyPos.y + " " + CurBallPos.y);
} else if (MoveDown) {
ReturnCmd.sety(-1);
// System.out.println("Down");
} else if (MoveUp) {
ReturnCmd.sety(1);
// System.out.println("Up");
} else {
ReturnCmd.sety(0);
}
return (ReturnCmd);
}
Vec2 AttackMode() {
abstract_robot.setDisplayString("Attack");
Vec2 TargetSpot = new Vec2(CurBallPosEgo.x, CurBallPosEgo.y);
Vec2 GoalSpot = new Vec2(CurOpponentsGoal.x, CurOpponentsGoal.y);
if (CurMyPos.y > 0) GoalSpot.y += 0.9 * (GOAL_WIDTH / 2.0);
if (CurMyPos.y < 0) GoalSpot.y -= 0.9 * (GOAL_WIDTH / 2.0);
TargetSpot.sub(GoalSpot);
TargetSpot.setr(ROBOT_RADIUS);
TargetSpot.add(CurBallPosEgo);
if (Math.abs(CurOpponentsGoal.r) < KICK_DISTANCE) KickIt = true;
else KickIt = false;
return (TargetSpot);
}
/** Called every timestep to allow the control system to run. */
public int TakeStep() {
double RandomHeading = 0;
// This var will hold final steering command at end.
Vec2 Cmd = new Vec2(0, DEFAULT_SPEED);
// My number, for debugging purposes only!
MyNum = abstract_robot.getPlayerNumber(CurTime);
// Read current time
CurTime = abstract_robot.getTime();
// Get current position
CurMyPos = abstract_robot.getPosition(CurTime);
// Get egocentric ball position, then convert to absolute position
CurBallPosEgo = abstract_robot.getBall(CurTime);
CurBallPos = new Vec2(CurBallPosEgo.x, CurBallPosEgo.y);
CurBallPos.add(CurMyPos);
// Get goal positions
CurOurGoal = abstract_robot.getOurGoal(CurTime);
CurOpponentsGoal = abstract_robot.getOpponentsGoal(CurTime);
// Get team positions
CurTeammates = abstract_robot.getTeammates(CurTime);
CurOpponents = abstract_robot.getOpponents(CurTime);
// Determine my current mode
// if(MyNum == 0) CurMode = MODE_GOALIE;
// if(MyNum == 1) CurMode = MODE_GOON;
// if(MyNum == 2) CurMode = MODE_GOON;
// if(MyNum == 3) CurMode = MODE_ATTACK;
if (MyNum == 4) CurMode = MODE_TOCCHET;
else if (ShouldAttack()) CurMode = MODE_ATTACK;
else if (ShouldBeGoalie()) CurMode = MODE_GOALIE;
else CurMode = MODE_GOON;
// Act based on current mode
switch (CurMode) {
case (MODE_ATTACK):
// Go for the glory!
Cmd = AttackMode();
break;
case (MODE_GOON):
// System.out.println("In goon mode.");
// Find the nearest undefended opponent, and kick his ass!
Cmd = GoonMode();
break;
case (MODE_GOALIE):
// For now, use stolen goalie function from Kechze.
Cmd = GoalieMode();
break;
case (MODE_TOCCHET):
// Crash the cage
Cmd = TocchetMode();
break;
default:
System.out.println("Unknown Mode!");
break;
}
// Use Cmd!
if ((Math.abs(CurMyPos.x - PrevMyPos.x) == 0.0)
&& (Math.abs(CurMyPos.y - PrevMyPos.y) == 0.0)) {
StuckCount++;
} else {
StuckCount = 0;
}
if (StuckCount > STUCK_LIMIT) {
RandomHeading = Math.random() * 2 * PI;
abstract_robot.setSteerHeading(CurTime, RandomHeading);
if (StuckCount > 2 * STUCK_LIMIT) StuckCount = 0;
} else abstract_robot.setSteerHeading(CurTime, Cmd.t);
abstract_robot.setSpeed(CurTime, 1.0);
// Save old values of everything
PrevTime = CurTime;
PrevMyPos = new Vec2(CurMyPos.x, CurMyPos.y);
PrevBallPos = new Vec2(CurBallPos.x, CurBallPos.y);
// Kick, if we can and wish to
if (abstract_robot.canKick(CurTime) && KickIt) {
abstract_robot.kick(CurTime);
}
// tell the parent we're OK
return (CSSTAT_OK);
}
Vec2 EgoToAbs(Vec2 EgoPos) {
Vec2 AbsPosition = new Vec2(EgoPos.x, EgoPos.y);
AbsPosition.add(CurMyPos);
return (AbsPosition);
}