/* --------------------------------------------------------------------- */
bool
Circle2D::HasIntersection(Line2D line )
{
double dist = line.dist(this->center());
if (dist > this->radius()) return false;
else return true;
}
/*!
*/
bool
Body_GoToPointDodge::get_dodge_point( const PlayerAgent * agent,
const Vector2D & target,
Vector2D * sol )
{
const WorldModel & wm = agent->world();
if ( wm.self().pos().dist( target )
< ServerParam::i().defaultPlayerSize() * 2.0 )
{
return false;
}
const Line2D line2target( wm.self().pos(), target );
/*--------------------------------------------------------*/
// check players
const AngleDeg target_angle = ( target - wm.self().pos() ).th();
const double dodge_perpend_dist2
= square( ServerParam::i().defaultPlayerSize() * 2.0 + 0.1 );
const double consider_dist_max = 1.5;
double mindist = 100.0;
bool found = false;
PlayerPtrCont::const_iterator it;
const PlayerPtrCont::const_iterator t_end
= wm.teammatesFromSelf().end();
for ( it = wm.teammatesFromSelf().begin();
it != t_end;
++it )
{
if ( (*it)->distFromSelf() > consider_dist_max )
{
break;
}
// this player is near to target trajectry
if ( mindist > (*it)->distFromSelf()
&& line2target.dist2( (*it)->pos() ) < dodge_perpend_dist2
&& (target_angle - (*it)->angleFromSelf()).abs() < 90.0 )
{
mindist = (*it)->distFromSelf();
*sol = (*it)->pos();
found = true;
}
}
const PlayerPtrCont::const_iterator o_end
= wm.opponentsFromSelf().end();
for ( it = wm.opponentsFromSelf().begin();
it != o_end;
++it )
{
if ( (*it)->distFromSelf() > consider_dist_max )
{
break;
}
// this player is near to target trajectry
if ( mindist > (*it)->distFromSelf()
&& line2target.dist2( (*it)->pos() ) < dodge_perpend_dist2
&& ( target_angle - (*it)->angleFromSelf() ).abs() < 90.0 )
{
mindist = (*it)->distFromSelf();
*sol = (*it)->pos();
found = true;
}
}
/*--------------------------------------------------------*/
// check ball
if ( wm.gameMode().type() != GameMode::PlayOn
&& wm.ball().posValid() )
{
if ( wm.ball().distFromSelf() < consider_dist_max
&& line2target.dist( wm.ball().pos() ) < 1.5
&& ( ( target_angle - ( wm.ball().pos()
- wm.self().pos() ).th() ).abs()
< 90.0 ) )
{
if ( mindist > wm.ball().distFromSelf() )
{
*sol = wm.ball().pos();
found = true;
}
}
}
return found;
}
/*!
execute action
*/
bool
Bhv_GoalieChaseBall::execute( PlayerAgent * agent )
{
dlog.addText( Logger::TEAM,
__FILE__": Bhv_GoalieChaseBall" );
//////////////////////////////////////////////////////////////////
// tackle
if ( Bhv_BasicTackle( 0.8, 90.0 ).execute( agent ) )
{
dlog.addText( Logger::TEAM,
__FILE__": tackle" );
return true;
}
const ServerParam & SP = ServerParam::i();
const WorldModel & wm = agent->world();
////////////////////////////////////////////////////////////////////////
// get active interception catch point
Vector2D my_int_pos = wm.ball().inertiaPoint( wm.interceptTable()->selfReachCycle() );
dlog.addText( Logger::TEAM,
__FILE__": execute. intercept point=(%.2f %.2f)",
my_int_pos.x, my_int_pos.y );
double pen_thr = wm.ball().distFromSelf() * 0.1 + 1.0;
if ( pen_thr < 1.0 ) pen_thr = 1.0;
//----------------------------------------------------------
const Line2D ball_line( wm.ball().pos(), wm.ball().vel().th() );
const Line2D defend_line( Vector2D( wm.self().pos().x, -10.0 ),
Vector2D( wm.self().pos().x, 10.0 ) );
if ( my_int_pos.x > - SP.pitchHalfLength() - 1.0
&& my_int_pos.x < SP.ourPenaltyAreaLineX() - pen_thr
&& my_int_pos.absY() < SP.penaltyAreaHalfWidth() - pen_thr )
{
bool save_recovery = false;
if ( ball_line.dist( wm.self().pos() ) < SP.catchableArea() )
{
save_recovery = true;
}
dlog.addText( Logger::TEAM,
__FILE__": execute normal intercept" );
agent->debugClient().addMessage( "Intercept(0)" );
Body_Intercept( save_recovery ).execute( agent );
agent->setNeckAction( new Neck_TurnToBall() );
return true;
}
int self_goalie_min = wm.interceptTable()->selfReachCycle();
int opp_min_cyc = wm.interceptTable()->opponentReachCycle();
Vector2D intersection = ball_line.intersection( defend_line );
if ( ! intersection.isValid()
|| ball_line.dist( wm.self().pos() ) < SP.catchableArea() * 0.8
|| intersection.absY() > SP.goalHalfWidth() + 3.0
)
{
if ( ! wm.existKickableOpponent() )
{
if ( self_goalie_min <= opp_min_cyc + 2
&& my_int_pos.x > -SP.pitchHalfLength() - 2.0
&& my_int_pos.x < SP.ourPenaltyAreaLineX() - pen_thr
&& my_int_pos.absY() < SP.penaltyAreaHalfWidth() - pen_thr
)
{
if ( Body_Intercept( false ).execute( agent ) )
{
dlog.addText( Logger::TEAM,
__FILE__": execute normal interception" );
agent->debugClient().addMessage( "Intercept(1)" );
agent->setNeckAction( new Neck_TurnToBall() );
return true;
}
}
dlog.addText( Logger::TEAM,
__FILE__": execute. ball vel has same slope to my body??"
" myvel-ang=%f body=%f. go to ball direct",
wm.ball().vel().th().degree(),
wm.self().body().degree() );
// ball vel angle is same to my body angle
agent->debugClient().addMessage( "GoToCatch(1)" );
doGoToCatchPoint( agent, wm.ball().pos() );
return true;
}
}
//----------------------------------------------------------
// body is already face to intersection
// only dash to intersection
// check catch point
if ( intersection.absX() > SP.pitchHalfLength() + SP.catchableArea()
|| intersection.x > SP.ourPenaltyAreaLineX() - SP.catchableArea()
|| intersection.absY() > SP.penaltyAreaHalfWidth() - SP.catchableArea()
)
{
dlog.addText( Logger::TEAM,
__FILE__": execute intersection(%.2f, %.2f) over range.",
intersection.x, intersection.y );
if ( Body_Intercept( false ).execute( agent ) )
{
agent->debugClient().addMessage( "Intercept(2)" );
agent->setNeckAction( new Neck_TurnToBall() );
return true;
}
else
{
return Bhv_GoalieBasicMove().execute( agent );
}
}
//----------------------------------------------------------
// check already there
const Vector2D my_inertia_final_pos
= wm.self().pos()
+ wm.self().vel()
/ (1.0 - wm.self().playerType().playerDecay());
double dist_thr = 0.2 + wm.ball().distFromSelf() * 0.1;
if ( dist_thr < 0.5 ) dist_thr = 0.5;
// if already intersection point stop dash
if ( my_inertia_final_pos.dist( intersection ) < dist_thr )
{
agent->debugClient().addMessage( "StopForChase" );
Body_StopDash( false ).execute( agent );
agent->setNeckAction( new Neck_TurnToBall() );
return true;
}
//----------------------------------------------------------
// forward or backward
dlog.addText( Logger::TEAM,
__FILE__": slide move. point=(%.1f, %.1f)",
intersection.x, intersection.y );
if ( wm.ball().pos().x > -35.0 )
{
if ( wm.ball().pos().y * intersection.y < 0.0 ) // opposite side
{
intersection.y = 0.0;
}
else
{
intersection.y *= 0.5;
}
}
agent->debugClient().addMessage( "GoToCatch(2)" );
doGoToCatchPoint( agent, intersection );
return true;
}
