void DefendOneOnOne::perform(Robot *r)
{
GameModel * gm = GameModel::getModel();
setMovementTargets(gm->getPenaltyPoint(),
Measurments::angleBetween(gm->getPenaltyPoint(), gm->getOpponentGoal()));
GenericMovementBehavior::perform(r);
}
void KickToGoal::perform(Robot * r)
{
GameModel* gm = GameModel::getModel();
Point ball = gm->getBallPoint();
Point goal = gm->getOpponentGoal();
Point rob = r->getRobotPosition();
float robAng = r->getOrientation();
float goalToBall = Measurments::angleBetween(goal,ball);
float ballToGoal = Measurments::angleBetween(ball, goal);
Point behindBall(BEHIND_RADIUS*cos(goalToBall)+ball.x,
BEHIND_RADIUS*sin(goalToBall)+ball.y);
// Create a different skill depending on the state
switch (state) {
case goingBehind:
target = behindBall;
setMovementTargets(behindBall, ballToGoal, true);
GenericMovementBehavior::perform(r, Movement::Type::Default);
break;
case approaching:
setMovementTargets(ball, ballToGoal, false);
GenericMovementBehavior::perform(r, Movement::Type::SharpTurns);
break;
case kicking:
{
Skill::Kick k(0, 0);
k.perform(r);
}
break;
case stopping:
{
Skill::Stop stop;
stop.perform(r);
}
break;
}
// Evaluate possible transitions
switch (state){
case goingBehind:
cout << "going behind" << endl;
// cout << "1\t" << Measurments::distance(behindBall, rob) << endl;
// cout << "2\t" << abs(Measurments::angleDiff(robAng, ballToGoal))/M_PI*180 << endl;
if (Measurments::distance(behindBall, rob) < CLOSE_ENOUGH &&
Measurments::isClose(robAng, ballToGoal, ANGLE)) {
state = approaching;
target = ball;
}
else if (!Measurments::isClose(target, behindBall, CLOSE_ENOUGH))
{
state = goingBehind;
}
break;
case approaching:
cout << "approching" << endl;
// cout << "1\t" << Measurments::distance(ball, rob) << endl;
// cout << "2\t" << abs(Measurments::angleDiff(robAng, ballToGoal))/M_PI*180 << endl;
if (Measurments::distance(ball, rob) < CLOSE_ENOUGH &&
Measurments::isClose(robAng, ballToGoal, ANGLE))
state = kicking;
else if (!Measurments::isClose(target, ball, CLOSE_ENOUGH))
{
state = goingBehind;
}
// else if (Measurments::distance(ball, rob) > CLOSE_ENOUGH*2) {
// state = goingBehind;
// }
break;
case kicking:
cout << "kicking" << endl;
state = stopping;
break;
case stopping:
cout << "stopping" << endl;
break;
}
}
