void DefendFarFromBall::perform(Robot *robot)
{
GameModel *gm = GameModel::getModel();
Point robPoint = robot->getRobotPosition();
Point ballPoint = gm->getBallPoint();
Point myGoal = gm->getMyGoal();
double direction = Measurments::angleBetween(myGoal, ballPoint);
Point defensiveWall(cos(direction)*DISTANCE + myGoal.x,
sin(direction)*DISTANCE + myGoal.y);
/* Check if there are any opp robots within 3000 distance of the ball
* This boolean is used to determine if the goalie should wait
* before kicking the ball to a teammate in case an opp robot intersepts
* the ball
*/
bool safeToKick = 1;
for(Robot* opRob:gm->getOponentTeam())
{
if (Measurments::distance(opRob->getRobotPosition(),ballPoint) < 3000)
safeToKick = 0;
}
bool isScoreHazard =
Measurments::distance(myGoal, ballPoint) < 1200
and not(Measurments::isClose(robPoint, ballPoint, 100))
and lastKickCounter <= 0
and safeToKick;
if(isScoreHazard or isKickingAwayBall) {
if(wasNotPreviousScoreHazard) {
KTPSkill = new Skill::KickToPoint(Point(0,0), 50*M_PI/180);
isKickingAwayBall = true;
wasNotPreviousScoreHazard = false;
}
if(KTPSkill->perform(robot) or
Measurments::distance(ballPoint, myGoal) > 1200){
lastKickCounter = 100;
wasNotPreviousScoreHazard = true;
isKickingAwayBall = false;
delete KTPSkill;
KTPSkill = nullptr;
}
} else {
if(lastKickCounter > 0)
--lastKickCounter;
Point defensiveWall(cos(direction)*DISTANCE + myGoal.x,
sin(direction)*DISTANCE + myGoal.y);
setMovementTargets(defensiveWall, direction, false, false);
GenericMovementBehavior::perform(robot, Movement::Type::facePoint);
}
}
/* This is the function that communicates outside the FPPA namespace to define
* obstacle information. In our case, that is getting the GameModel and all the robots
* from that. However, I would like to have this more generalized in the future.
*/
void buildObstacleCollection()
{
GameModel* mod = GameModel::getModel();
const auto& myTeam = mod->getMyTeam();
const auto& opTeam = mod->getOponentTeam();
currentFrameObstacles.clear();
currentFrameObstacles.reserve(myTeam.size() + opTeam.size() + 1);
for(Robot* rob : myTeam)
currentFrameObstacles.push_back(rob->getRobotPosition());
for(Robot* rob : opTeam)
currentFrameObstacles.push_back(rob->getRobotPosition());
currentFrameObstacles.push_back(mod->getBallPoint());
#if FPPA_DEBUG
// std::cout << "[FPPA] All Obstacles: " << std::endl;
//for(Point pt : *obstacles) std::cout << pt.toString() << std::endl;
#endif
}