static void makeLines(QVector<QPointF> &points, const QPointF p0, const int a0, const QPointF p1, const int a1)
{
//this case uses three line connections
if (deltaAcuteAngle(a0, a1) == 180)
{
//determine possible midpoints
QPointF m0h((p0.x()+p1.x())/2, p0.y());
QPointF m1h((p0.x()+p1.x())/2, p1.y());
const auto a0mhdelta = deltaAcuteAngle(getAngle(p0, m0h), a0);
const auto a1mhdelta = deltaAcuteAngle(getAngle(p1, m1h), a1);
QPointF m0v(p0.x(), (p0.y()+p1.y())/2);
QPointF m1v(p1.x(), (p0.y()+p1.y())/2);
const auto a0mvdelta = deltaAcuteAngle(getAngle(p0, m0v), a0);
const auto a1mvdelta = deltaAcuteAngle(getAngle(p1, m1v), a1);
//pick the best midpoints
QPointF m0, m1;
if (a0mhdelta == 180 or a1mhdelta == 180) {m0 = m0v; m1 = m1v;}
else if (a0mvdelta == 180 or a1mvdelta == 180) {m0 = m0h; m1 = m1h;}
else if (a0mhdelta + a1mhdelta < a0mvdelta + a1mvdelta) {m0 = m0h; m1 = m1h;}
else {m0 = m0v; m1 = m1v;}
points.push_back(m0);
points.push_back(m1);
}
//in this case, the connection is composed of two lines
else
{
//determine possible midpoints
QPointF midPoint0(p0.x(), p1.y());
const auto a0m0delta = deltaAcuteAngle(getAngle(p0, midPoint0), a0);
const auto a1m0delta = deltaAcuteAngle(getAngle(p1, midPoint0), a1);
QPointF midPoint1(p1.x(), p0.y());
const auto a0m1delta = deltaAcuteAngle(getAngle(p0, midPoint1), a0);
const auto a1m1delta = deltaAcuteAngle(getAngle(p1, midPoint1), a1);
//pick the best midpoint
QPointF midPoint;
if (a0m0delta == 180 or a1m0delta == 180) midPoint = midPoint1;
else if (a0m1delta == 180 or a1m1delta == 180) midPoint = midPoint0;
else if (a0m0delta + a1m0delta < a0m1delta + a1m1delta) midPoint = midPoint0;
else midPoint = midPoint1;
points.push_back(midPoint);
}
}
RobotCommand TacticBlocker::getCommand()
{
RobotCommand rc;
if(!wm->ourRobot[id].isValid) return rc;
wm->ourRobot[id].Status = AgentStatus::Idle;
double maxRobotSpeed = 1.5;
int ballOwnerID = -1, recID1 = -1, recID2 = -1, blockerID = -1;
Position ballOwnerPos;
double minDist = 100000000;
double blockDist = 4 * ROBOT_RADIUS;
double maxDot1 = -2, maxDot2 = -2;
if(!wm->cmgs.allowedNearBall())
{
if(wm->ourRobot[id].pos.loc.dist(wm->ball.pos.loc) - ALLOW_NEAR_BALL_RANGE > 0 &&
wm->ourRobot[id].pos.loc.dist(wm->ball.pos.loc) - ALLOW_NEAR_BALL_RANGE < 100)
{
rc.fin_pos = wm->ourRobot[id].pos;
rc.maxSpeed = maxRobotSpeed;
rc.useNav = true;
rc.isBallObs = false;
rc.isKickObs = true;
return rc;
}
}
// Finding opponent ball owner.
for (int i = 0; i < PLAYERS_MAX_NUM; ++i)
{
if(wm->oppRobot[i].isValid)
{
double dist = wm->oppRobot[i].pos.loc.dist(wm->ball.pos.loc);
if(dist < minDist)
{
minDist = dist;
ballOwnerID = i;
ballOwnerPos = wm->oppRobot[i].pos;
}
}
}
// Guess who will receive pass of ball owner. [I]
for(int i = 0; i < PLAYERS_MAX_NUM; ++i)
{
if(i != ballOwnerID && wm->oppRobot[i].isValid)
{
Vector2D a((wm->oppRobot[i].pos.loc - ballOwnerPos.loc).normalizedVector());
Vector2D b(cos(ballOwnerPos.dir), sin(ballOwnerPos.dir));
double dot = a.innerProduct(b);
if(dot > maxDot1)
{
maxDot1 = dot;
recID1 = i;
}
}
}
// Guess who will receive pass of ball owner. [II]
for(int i = 0; i < PLAYERS_MAX_NUM; ++i)
{
if(i != ballOwnerID && i!= recID1 && wm->oppRobot[i].isValid)
{
Vector2D a((wm->oppRobot[i].pos.loc - ballOwnerPos.loc).normalizedVector());
Vector2D b(cos(ballOwnerPos.dir), sin(ballOwnerPos.dir));
double dot = a.innerProduct(b);
if(dot > maxDot2)
{
maxDot2 = dot;
recID2 = i;
}
}
}
// Find other blocker id. There is only one else.
for(int i = 0; i < PLAYERS_MAX_NUM; ++i)
{
if(i != id && wm->ourRobot[i].isValid && wm->ourRobot[i].Role == AgentRole::Blocker)
{
blockerID = i;
break;
}
}
Vector2D midPoint1(Vector2D::INVALIDATED), midPoint2(Vector2D::INVALIDATED);
double myDist1 = 1000000000, myDist2 = 1000000000;
double blockerDist1 = 1000000000, blockerDist2 = 1000000000;
if(recID1 != -1)
{
midPoint1 = wm->oppRobot[recID1].pos.loc + (wm->ball.pos.loc - wm->oppRobot[recID1].pos.loc).normalizedVector().scale(blockDist);
myDist1 = midPoint1.dist(wm->ourRobot[id].pos.loc);
if(blockerID != -1)
{
blockerDist1 = midPoint1.dist(wm->ourRobot[blockerID].pos.loc);
}
}
if(recID2 != -1)
{
midPoint2 = wm->oppRobot[recID2].pos.loc + (wm->ball.pos.loc - wm->oppRobot[recID2].pos.loc).normalizedVector().scale(blockDist);
myDist2 = midPoint2.dist(wm->ourRobot[id].pos.loc);
if(blockerID != -1)
{
blockerDist2 = midPoint2.dist(wm->ourRobot[blockerID].pos.loc);
}
}
// Two opponent robots may receive pass.
if(recID1 != -1 && recID2 != -1)
{
// There is another blocker in team.
if(blockerID != -1)
{
if(myDist1 + blockerDist2 < myDist2 + blockerDist1)
{
wm->ourRobot[id].Status = AgentStatus::BlockingPass;
rc.fin_pos.loc = midPoint1;
rc.fin_pos.dir = (wm->ball.pos.loc - midPoint1).dir().radian();
}
else
{
wm->ourRobot[id].Status = AgentStatus::BlockingRobot;
rc.fin_pos.loc = midPoint2;
rc.fin_pos.dir = (wm->ball.pos.loc - midPoint2).dir().radian();
}
}
// Only I'm the blocker. TODO: we can decide better with more conditioning.
else
{
wm->ourRobot[id].Status = AgentStatus::BlockingPass;
rc.fin_pos.loc = midPoint1;
rc.fin_pos.dir = (wm->ball.pos.loc - midPoint2).dir().radian();
}
}
// One opponent robot may receive pass.
else if(recID1 != -1 && recID2 == -1)
{
// There is another blocker in team.
if(blockerID != -1)
{
if(myDist1 < blockerDist1)
{
wm->ourRobot[id].Status = AgentStatus::BlockingPass;
rc.fin_pos.loc = midPoint1;
rc.fin_pos.dir = (wm->ball.pos.loc - midPoint1).dir().radian();
}
else
{
rc.fin_pos.loc = Vector2D(Field::ourGoalCenter.x + Field::goalCircleDEF_R + 200, 0);
rc.fin_pos.dir = 0;
}
}
// Only I'm the blocker.
else
{
wm->ourRobot[id].Status = AgentStatus::BlockingPass;
rc.fin_pos.loc = midPoint1;
rc.fin_pos.dir = (wm->ball.pos.loc - midPoint1).dir().radian();
}
}
// No opponent robot may receive pass.
else
{
rc.fin_pos.loc = Vector2D(Field::ourGoalCenter.x + Field::goalCircleDEF_R + 200, 0);
rc.fin_pos.dir = 0;
}
// Prevent from going into golie area.
if(wm->kn->IsInsideGoalShape(rc.fin_pos.loc, Field::ourGoalCenter.x, Field::goalCircleDEF_R,
(Field::ourGoalCC_L - Field::ourGoalCC_R).length()))
{
if(wm->kn->IsInsideGoalShape(wm->ball.pos.loc, Field::ourGoalCenter.x, Field::goalCircleDEF_R,
(Field::ourGoalCC_L - Field::ourGoalCC_R).length()))
{
wm->ourRobot[id].Status = AgentStatus::Idle;
rc.fin_pos.loc = Vector2D(Field::ourGoalCenter.x + Field::goalCircleDEF_R + 200, 0);
rc.fin_pos.dir = 0;
}
else
{
if(wm->kn->IsInsideGoalShape((rc.fin_pos.loc + wm->ball.pos.loc * 3) * 0.25, Field::ourGoalCenter.x, Field::goalCircleDEF_R,
(Field::ourGoalCC_L - Field::ourGoalCC_R).length()))
{
wm->ourRobot[id].Status = AgentStatus::BlockingRobot;
rc.fin_pos = wm->kn->AdjustKickPoint(wm->ball.pos.loc, Field::oppGoalCenter);
}
else
{
wm->ourRobot[id].Status = AgentStatus::BlockingPass;
rc.fin_pos.loc = (rc.fin_pos.loc + wm->ball.pos.loc * 3) * 0.25;
}
}
}
if(!wm->cmgs.allowedNearBall())
{
if(wm->ourRobot[id].pos.loc.dist(wm->ball.pos.loc) < ALLOW_NEAR_BALL_RANGE)
{
rc.fin_pos.loc = wm->ball.pos.loc + (wm->ourRobot[id].pos.loc - wm->ball.pos.loc).normalizedVector().scale(ALLOW_NEAR_BALL_RANGE);
}
}
rc.maxSpeed = maxRobotSpeed;
rc.useNav = true;
rc.isBallObs = false;
rc.isKickObs = true;
return rc;
}
