template<class T> Point2<T> Line2D<T>::intersectPoint(const Line2D<T> &l2) const
{
T d = (a.X - b.X)*(l2.getA().Y - l2.getB().Y) - (a.Y - b.Y)*(l2.getA().X - l2.getB().X);
T intersectX = ((l2.getA().X - l2.getB().X) * (a.X*b.Y - a.Y*b.X) - (a.X - b.X) * (l2.getA().X*l2.getB().Y - l2.getA().Y*l2.getB().X)) / d;
T intersectY = ((l2.getA().Y - l2.getB().Y) * (a.X*b.Y - a.Y*b.X) - (a.Y - b.Y) * (l2.getA().X*l2.getB().Y - l2.getA().Y*l2.getB().X)) / d;
return Point2<T>(intersectX, intersectY);
}
toxi::geom::Vec2D toxi::geom::Polygon2D::getRandomPoint()
{
std::vector< Line2D > edges = getEdges();
int numEdges = edges.size();
Line2D ea = edges.at( static_cast< int > ( toxi::math::MathUtils::random( numEdges ) ) );
Line2D * eb = nullptr;
// and another one, making sure it's different
while (eb == nullptr || *eb == ea)
{
eb = &edges.at( static_cast< int > ( toxi::math::MathUtils::random( numEdges ) ) );
}
// pick a random point on edge A
Vec2D p = ea.getA().interpolateTo(ea.getB(), toxi::math::MathUtils::random( 1.0 ) );
// then randomly interpolate to another random point on edge B
Vec2D ret = p.interpolateToSelf(
eb->getA().interpolateTo(eb->getB(), toxi::math::MathUtils::random( 1.0 ) ),
static_cast< float > ( toxi::math::MathUtils::random( 1.0 ) ) );
delete eb;
return ret;
}
/*!
*/
bool
Bhv_GoalieChaseBall::is_ball_shoot_moving( const PlayerAgent * agent )
{
const ServerParam & SP = ServerParam::i();
const WorldModel & wm = agent->world();
if ( wm.ball().distFromSelf() > 30.0 )
{
return false;
}
#if 1
if ( wm.ball().pos().x > -34.5 )
{
return false;
}
#endif
// check opponent kicker
if ( wm.existKickableOpponent() )
{
dlog.addText( Logger::TEAM,
__FILE__": check shoot moving. opponent kickable " );
return false;
}
else if ( wm.existKickableTeammate() )
{
dlog.addText( Logger::TEAM,
__FILE__": check shoot moving. teammate kickable" );
return false;
}
if ( wm.ball().vel().absX() < 0.1 )
{
if ( wm.ball().pos().x < -46.0
&& wm.ball().pos().absY() < SP.goalHalfWidth() + 2.0 )
{
dlog.addText( Logger::TEAM,
__FILE__": check shoot moving. bvel.x(%f) is ZERO. but near to goal",
wm.ball().vel().x );
return true;
}
dlog.addText( Logger::TEAM,
__FILE__": check shoot moving. bvel,x is small" );
return false;
}
const Line2D ball_line( wm.ball().pos(), wm.ball().vel().th() );
const double intersection_y = ball_line.getY( -SP.pitchHalfLength() );
if ( std::fabs( ball_line.getB() ) > 0.1
&& std::fabs( intersection_y ) < SP.goalHalfWidth() + 2.0 )
{
if ( wm.ball().pos().x < -40.0
&& wm.ball().pos().absY() < 15.0 )
{
const Vector2D end_point
= wm.ball().pos()
+ wm.ball().vel() / ( 1.0 - SP.ballDecay());
if ( wm.ball().vel().r() > 0.5 // 1.0
&& end_point.x < -SP.pitchHalfLength() + 2.0 )
{
dlog.addText( Logger::TEAM,
__FILE__": shoot to Y(%.1f). ball_line a=%.1f, b=%.1f, c=%.1f",
intersection_y,
ball_line.getA(),
ball_line.getB(),
ball_line.getC() );
return true;
}
}
}
return false;
}
