/* returns whether we are in the right place or not */
Bool go_to_static_ball(float kick_ang, float dash_pow)
{
Line l;
LogAction6(50, "go_to_static_ball: ball at (%.1f, %.1f) for kick angle %.2f, dash_pow %.2f",
Mem->BallX(), Mem->BallY(), kick_ang, dash_pow);
if (!Mem->BallPositionValid())
my_error("go_to_static_ball: lost ball");
/* we can be pretty tolerant of angle errors, but distance errors start to matter
real quickly */
Vector targ_pt = get_static_ball_pos(Mem->BallAbsolutePosition(), kick_ang);
/* we want to try and face the ball at all times */
turn_neck(Mem->LimitTurnNeckAngle(Mem->BallAngleFromNeck()));
if (Mem->MySpeed() == 0 &&
Mem->DistanceTo(targ_pt) <= Mem->CP_static_kick_dist_err) {
LogAction3(60, "go_to_static_ball: I am done %.2f", Mem->DistanceTo(targ_pt));
return TRUE;
}
/* if we are real far from the ball, just use the regular go_to_point */
if (Mem->BallDistance() > 2 * Mem->My_kickable_area()) {
LogAction2(60, "go_to_static_ball: far away, using go_to_point");
if (go_to_point(targ_pt, 0 /* no buffer */, dash_pow)
!= AQ_ActionQueued)
my_error("go_to_static_ball: far away, why didn't go_to_point do anything?");
return FALSE;
}
/* make sure that we go around the ball */
l.LineFromTwoPoints(Mem->MyPos(), targ_pt);
Vector proj_ball_pt = l.ProjectPoint(Mem->BallAbsolutePosition());
if (proj_ball_pt.dist(Mem->BallAbsolutePosition()) <=
Mem->My_size() + Mem->SP_ball_size + Mem->CP_collision_buffer &&
l.InBetween(proj_ball_pt, Mem->MyPos(), targ_pt)) {
/* we'll do a 90 degree dodge -we always go right */
Vector dodge_pt = Mem->MyPos() +
Polar2Vector(Mem->My_size(), Mem->BallAngleFromBody() + Mem->MyBodyAng() + 90);
LogAction2(60, "go_to_static_ball: dodging the ball");
if (go_to_point(dodge_pt, 0 /* no buffer */, dash_pow)
!= AQ_ActionQueued)
my_error("go_to_static_ball: dodging, why didn't go_to_point do anything?");
return FALSE;
}
/* now we need to get to the target_point */
/* first see if we need to turn */
l.LineFromRay(Mem->MyPos(), Mem->MyBodyAng());
float ang = Mem->AngleToFromBody(targ_pt);
if (fabs(ang) > 90 ||
(l.dist(targ_pt) > Mem->CP_static_kick_dist_err &&
ang > Mem->CP_static_kick_ang_err)) {
LogAction2(60, "go_to_static_ball: turning to target_point");
turn(Mem->AngleToFromBody(targ_pt));
return FALSE;
}
/* now calculate the speed we should be going to land right on the point */
float targ_speed =
SolveForFirstTermInfGeomSeries(Mem->My_decay(), Mem->DistanceTo(targ_pt));
float dash_pow_to_use =
MinMax(-dash_pow / 2,
(targ_speed - Mem->MySpeed()) / Mem->My_dash_power_rate(),
dash_pow);
LogAction5(60, "go_to_static_ball: targ_speed: %.2f\tMySpeed: %.2f\tdash_pow: %.2f",
targ_speed, Mem->MySpeed(), dash_pow_to_use);
if (fabs(dash_pow_to_use) > 1) {
LogAction3(70, "go_to_static_ball: dash power is too small %.2f", dash_pow_to_use);
dash(Mem->CorrectDashPowerForStamina(dash_pow_to_use));
return FALSE;
}
return TRUE;
}
int umain (void) {
// int i_init = current_territory();
// printf("i_init %i\n", i_init);
// for(int i = i_init; i <= i_init + 1; i++) {
// printf("target i %i\n", i % 6);
// go_to_territory(i % 6, false);
// }
// printf("[1] starting territory is %i\n", current_territory());
// go_to_territory(current_territory() + 5);
// pause(300);
// go_to_territory(current_territory() + 1);
// pause(300);
// go_to_point(&pre_gears[current_territory()], false);
// capture_gears();
// go_to_point(&pre_gears[current_territory()], false);
// capture_gears();
// pause(500);
// go_to_point(&territories[current_territory()], false);
// go_to_territory(current_territory(), false);
// go_to_point(&pre_mines[current_territory()], false);
// mine_resources();
// go_to_territory(current_territory(), false);
// go_to_point(&pre_gears[current_territory()], false);
// capture_gears();
/*for(int i = 0; i < 4; i++) {
go_to_point(&pre_gears[current_territory()], false);
capture_gears();
}*/
int i_init = current_territory();
printf("i_init %i\n", i_init);
for(int i = i_init; i <= i_init + 7; i++) {
int active_i = i % 6;
printf("active_i %i\n", active_i);
go_to_point(&territories[active_i], false);
}
for (int i = 0; i <3 ; i++) {
go_to_point(&pre_gears[current_territory()], false);
capture_gears();
}
set_wheel_pows(1, -1);
pause(6000);
set_wheel_pows(0,0);
while (true) {
rotate_by_gyro((get_time() % 360) - 180);
pause((get_time() % 20000) + 500);
}
set_wheel_pows(0,0);
printf("umain done\n");
return 0;
}
