float Team::_getBestSpotOfReceiving(Player* receiver, float passing_force, Ogre::Vector3& target)
{
float best_score = -1;
Ogre::Vector3 ball_pos = mBall->getPosition();
Ogre::Vector3 to_reciver = Vector3To2(receiver->getPosition() - ball_pos);
float dist_to_receiver = to_reciver.length();
float length = receiver->getMaxSpeed() * mBall->getTimeToCoverDistance(dist_to_receiver, passing_force) * 0.8;
float theta = asin(length / dist_to_receiver);
int try_pass_times = 4;
for (int i = 0; i <= try_pass_times; ++i)
{
Ogre::Radian angle(-theta + i * (2 * theta / try_pass_times));
Ogre::Quaternion rotation = GetRotationThroughHeading(to_reciver) * Ogre::Quaternion(angle, Ogre::Vector3(0, 1, 0));
Ogre::Vector3 aim_target = ball_pos + rotation * Ogre::Vector3(0, 0, dist_to_receiver);
if (isSafeGoingThroughAllOpponents(ball_pos, aim_target, passing_force))
{
float score = _getScoreOfPosition(aim_target);
if (score > best_score)
{
best_score = score;
target = aim_target;
}
}
}
return best_score;
}
void Team::requestPass(Player* player, double delay_time /* = 0 */)
{
// With a possibility to execute
if (WithPossibility(Prm.RequestPassPosibility))
{
if (isSafeGoingThroughAllOpponents(
getControllingPlayer()->getPosition(),
player->getPosition(),
Prm.PlayerMaxPassingForce) )
{
MessageDispatcher::get().dispatchMessage(
0,
player,
getControllingPlayer(),
MSG_REQUEST_PASS,
player);
}
}
}
bool Team::canShoot(const Ogre::Vector3& from, Ogre::Vector3& proper_target, float shooting_force)
{
Goal* goal = getOpponent()->getGoal();
float dist_to_goal = Vector3To2(from).distance(goal->getCenter());
// If too far from goal, it may be not a good chance to shoot
if (dist_to_goal > Prm.PlayerShootingRange)
{
return false;
}
// If shooting angle is too narrow, drop it
float theta = fabs(from.x - goal->getCenter().x) / dist_to_goal;
if (asin(theta) < PI / 6)
{
return false;
}
int tot = Prm.PlayerShootingTryNum;
Ogre::Vector3 left_to_right = goal->getRightPost() - goal->getLeftPost();
while (tot--)
{
Ogre::Vector3 target = goal->getLeftPost() + left_to_right * dt::Random::get(0.f, 1.f);
// If safe to shot
// or with some possibility
if (isSafeGoingThroughAllOpponents(mBall->getPosition(), target, shooting_force) ||
WithPossibility(0.05))
{
proper_target = target;
return true;
}
}
return false;
}
void Team::requestPass(Player* player, double delay_time /* = 0 */)
{
// With a possibility to execute
if (WithPossibility(Prm.RequestPassPosibility))
{
float dot = mControllingPlayer->getHeading().dotProduct(
(player->getPosition() - mControllingPlayer->getPosition()).normalisedCopy());
// Not behind the controlling player
if (dot > -0.1 &&
isSafeGoingThroughAllOpponents(
getControllingPlayer()->getPosition(),
player->getPosition(),
Prm.PlayerMaxPassingForce) )
{
MessageDispatcher::get().dispatchMessage(
0,
player,
getControllingPlayer(),
MSG_REQUEST_PASS,
player);
}
}
}