/*!
*/
bool
Body_GoToPointDodge::execute( PlayerAgent * agent )
{
dlog.addText( Logger::ACTION,
"%s:%d: Body_GoToPointDodge"
,__FILE__, __LINE__ );
Vector2D dodge_pos;
if ( ! get_dodge_point( agent, M_point, &dodge_pos ) )
{
return Body_GoToPoint( M_point,
0.1,
M_dash_power,
-1.0, // dash speed
3 ).execute( agent );
}
AngleDeg target_angle = ( M_point - agent->world().self().pos() ).th();
Vector2D dodge_rel = dodge_pos - agent->world().self().pos();
// difference angle between target and this player to dodge
// if diff is positive this player is left from target angle.
double ang_diff = ( target_angle - dodge_rel.th() ).degree();
if ( std::fabs( ang_diff ) > 90.0 )
{
return Body_GoToPoint( M_point,
0.1,
M_dash_power,
-1.0, // dash speed
3 ).execute( agent );
}
Vector2D new_target;
if ( ang_diff > 0.0 )
{ // obstacle is left from target dir -> new target is right from old
new_target
= dodge_pos
+ Vector2D::polar2vector( ServerParam::i().defaultPlayerSize() * 4.0,
target_angle + 90.0 );
}
else
{ // obstacle is right from target dir -> new target is left from old
new_target
= dodge_pos
+ Vector2D::polar2vector( ServerParam::i().defaultPlayerSize() * 4.0,
target_angle - 90.0 );
}
dlog.addText( Logger::ACTION,
"%s:%d: dodge(%f, %f) sub-target(%f, %f)"
,__FILE__, __LINE__,
dodge_pos.x, dodge_pos.y, new_target.x, new_target.y );
// never do dodge agen
return Body_GoToPoint( new_target,
0.1,
M_dash_power,
-1.0, // dash speed
3 ).execute( agent );
}
/*!
*/
bool
Bhv_Hunt::execute( PlayerAgent * agent )
{
std::list<Vector2D> forces;
//Get force from prey
Vector2D preyForce = agent->world().ball().rpos(); //Vector to prey
int preyCo = 1; // for future usee
forces.push_front(preyForce * preyCo/preyForce.r2()); //1/r^2 relationship
// Get forces from team mates
// PlayerCont * team = agent->world().teammates();
// for ( PlayerCont::const_iterator tm = team.begin(); tm != team.end(); ++tm ){
// }
//Sum up all forces to create resultant vector
Vector2D * resultant = new Vector2D();
for ( std::list<Vector2D>::iterator it = forces.begin(); it != forces.end(); ++it ){
*resultant = *resultant + *it;
}
if ( Body_GoToPoint (*resultant, 5, resultant->r()).execute( agent ) ){
agent->setNeckAction( new Neck_TurnToBall());
return true;
}
return false;
}
