/**
* Update data used by tackle.
* \param agent.
*/
void Tackler::UpdateTackleData(const Agent & agent)
{
if (mAgentID == agent.GetAgentID()) {
return; /** no need to update */
}
mAgentID = agent.GetAgentID();
const BallState & ball_state = agent.GetWorldState().GetBall();
const PlayerState & player_state = agent.GetSelf();
Vector ball_2_player = (ball_state.GetPos() - player_state.GetPos()).Rotate(-player_state.GetBodyDir());
Vector ball_vel;
mMaxTackleSpeed = -1.0;
mDirMap.clear();
const double max_tackle_power = ServerParam::instance().maxTacklePower();
const double min_back_tackle_power = ServerParam::instance().maxBackTacklePower();
double factor = 1.0 - 0.5 * (fabs(Deg2Rad(ball_2_player.Dir())) / M_PI);
for (AngleDeg tackle_angle = -180.0 + FLOAT_EPS; tackle_angle <= 180.0 + FLOAT_EPS; tackle_angle += 1.0) {
Vector ball_vel(ball_state.GetVel());
double eff_power = (min_back_tackle_power + ((max_tackle_power - min_back_tackle_power) * (1.0 - fabs(Deg2Rad(tackle_angle)) / M_PI))) * ServerParam::instance().tacklePowerRate();
eff_power *= factor;
ball_vel += Polar2Vector(eff_power, tackle_angle + player_state.GetBodyDir());
ball_vel = ball_vel.SetLength(Min(ball_vel.Mod(), ServerParam::instance().ballSpeedMax()));
int angle_idx = ang2idx(tackle_angle);
int dir_idx = dir2idx(ball_vel.Dir());
mTackleAngle[angle_idx] = tackle_angle;
mBallVelAfterTackle[angle_idx] = ball_vel;
mDirMap[dir_idx].push_back(std::make_pair(angle_idx, ang2idx(tackle_angle + 1.0)));
if (ball_vel.Mod() > mMaxTackleSpeed){
mMaxTackleSpeed = ball_vel.Mod();
}
if (ball_vel.Mod() * ServerParam::instance().ballDecay() < FLOAT_EPS) {
mCanTackleStopBall = true;
mTackleStopBallAngle = tackle_angle;
}
}
//
//
// for (AngleDeg tackle_angle = -180.0 + 0.3; tackle_angle <= 180.0 + FLOAT_EPS; tackle_angle += 1.0) {
// Vector ball_vel = GetBallVelAfterTackle(agent, tackle_angle);
// AngleDeg tackle_angle2 = 0.0;
// GetTackleAngleToDir(agent, ball_vel.Dir(), & tackle_angle2);
//
// std::cout << tackle_angle << " " << tackle_angle2 << std::endl;
// }
//
// exit(0);
}
void AI_logPlayer::recordLog(WorldModel *wm, QList<RobotCommand> RCs)
{
log_chunk data_chunk;
data_chunk.set_chunk_number(this->counter++);
Ball_message* ball(data_chunk.mutable_ball());
ball->set_isvalid(wm->ball.isValid);
position_message* ball_pos(ball->mutable_position());
ball_pos->set_x(wm->ball.pos.loc.x);
ball_pos->set_y(wm->ball.pos.loc.y);
ball_pos->set_dir(wm->ball.pos.dir);
position_message* ball_vel(ball->mutable_velocity());
ball_vel->set_x(wm->ball.vel.loc.x);
ball_vel->set_y(wm->ball.vel.loc.y);
ball_vel->set_dir(wm->ball.vel.dir);
for(int i = 0; i < PLAYERS_MAX_NUM; i++ )
{
Robot_message *our = data_chunk.add_ours();
our->set_isvalid(wm->ourRobot[i].isValid);
Robot_message_AgentRole role = returnProtoRole(wm->ourRobot[i].Role);
our->set_role(role);
Robot_message_AgentStatus status = returnProtoStatus(wm->ourRobot[i].Status);
our->set_status(status);
Robot_message_AgentRegion region = returnProtoRegion(wm->ourRobot[i].Region);
our->set_region(region);
position_message* robo_pos(our->mutable_position());
robo_pos->set_x(wm->ourRobot[i].pos.loc.x);
robo_pos->set_y(wm->ourRobot[i].pos.loc.y);
robo_pos->set_dir(wm->ourRobot[i].pos.dir);
position_message* robo_vel(our->mutable_velocity());
robo_vel->set_x(wm->ourRobot[i].vel.loc.x);
robo_vel->set_y(wm->ourRobot[i].vel.loc.y);
robo_vel->set_dir(wm->ourRobot[i].vel.dir);
// RobotCommand_message rc = our->rc();
// position_message fin_pos = rc.fin_pos();
// fin_pos.set_x(wm->ourRobot[i].);
}
for(int i = 0; i < PLAYERS_MAX_NUM; i++ )
{
Robot_message *opp = data_chunk.add_opps();
opp->set_isvalid(wm->oppRobot[i].isValid);
position_message* robo_pos(opp->mutable_position());
robo_pos->set_x(wm->oppRobot[i].pos.loc.x);
robo_pos->set_y(wm->oppRobot[i].pos.loc.y);
robo_pos->set_dir(wm->oppRobot[i].pos.dir);
position_message* robo_vel(opp->mutable_velocity());
robo_vel->set_x(wm->oppRobot[i].vel.loc.x);
robo_vel->set_y(wm->oppRobot[i].vel.loc.y);
robo_vel->set_dir(wm->oppRobot[i].vel.dir);
}
chunks.append(data_chunk);
}
