void PutBallBackInPlay::Execute(GoalKeeper* keeper)
{
PlayerBase* receiver = NULL;
Vector2D BallTarget;
//test if there are players further forward on the field we might
//be able to pass to. If so, make a pass.
if (keeper->Team()->FindPass(keeper,
receiver,
BallTarget,
Prm.MaxPassingForce,
Prm.GoalkeeperMinPassDist))
{
//make the pass
keeper->Ball()->Kick(Vec2DNormalize(BallTarget - keeper->Ball()->Pos()),
Prm.MaxPassingForce);
//goalkeeper no longer has ball
keeper->Pitch()->SetGoalKeeperHasBall(false);
//let the receiving player know the ball's comin' at him
Dispatcher->DispatchMsg(SEND_MSG_IMMEDIATELY,
keeper->ID(),
receiver->ID(),
Msg_ReceiveBall,
&BallTarget);
//go back to tending the goal
keeper->GetFSM()->ChangeState(TendGoal::Instance());
return;
}
keeper->SetVelocity(Vector2D());
}
void KickBall::Execute(FieldPlayer* player)
{
//calculate the dot product of the vector pointing to the ball
//and the player's heading
Vector2D ToBall = player->Ball()->Pos() - player->Pos();
double dot = player->Heading().Dot(Vec2DNormalize(ToBall));
//cannot kick the ball if the goalkeeper is in possession or if it is
//behind the player or if there is already an assigned receiver. So just
//continue chasing the ball
if (player->Team()->Receiver() != NULL ||
player->Pitch()->GoalKeeperHasBall() ||
(dot < 0) )
{
#ifdef PLAYER_STATE_INFO_ON
debug_con << "Goaly has ball / ball behind player" << "";
#endif
player->GetFSM()->ChangeState(ChaseBall::Instance());
return;
}
/* Attempt a shot at the goal */
//if a shot is possible, this vector will hold the position along the
//opponent's goal line the player should aim for.
Vector2D BallTarget;
//the dot product is used to adjust the shooting force. The more
//directly the ball is ahead, the more forceful the kick
double power = Prm.MaxShootingForce * dot;
//if it is determined that the player could score a goal from this position
//OR if he should just kick the ball anyway, the player will attempt
//to make the shot
if (player->Team()->CanShoot(player->Ball()->Pos(),
power,
BallTarget) ||
(RandFloat() < Prm.ChancePlayerAttemptsPotShot))
{
#ifdef PLAYER_STATE_INFO_ON
debug_con << "Player " << player->ID() << " attempts a shot at " << BallTarget << "";
#endif
//add some noise to the kick. We don't want players who are
//too accurate! The amount of noise can be adjusted by altering
//Prm.PlayerKickingAccuracy
BallTarget = AddNoiseToKick(player->Ball()->Pos(), BallTarget);
//this is the direction the ball will be kicked in
Vector2D KickDirection = BallTarget - player->Ball()->Pos();
player->Ball()->Kick(KickDirection, power);
//change state
player->GetFSM()->ChangeState(Wait::Instance());
player->FindSupport();
return;
}
/* Attempt a pass to a player */
//if a receiver is found this will point to it
PlayerBase* receiver = NULL;
power = Prm.MaxPassingForce * dot;
//test if there are any potential candidates available to receive a pass
if (player->isThreatened() &&
player->Team()->FindPass(player,
receiver,
BallTarget,
power,
Prm.MinPassDist))
{
//add some noise to the kick
BallTarget = AddNoiseToKick(player->Ball()->Pos(), BallTarget);
Vector2D KickDirection = BallTarget - player->Ball()->Pos();
player->Ball()->Kick(KickDirection, power);
#ifdef PLAYER_STATE_INFO_ON
debug_con << "Player " << player->ID() << " passes the ball with force " << power << " to player "
<< receiver->ID() << " Target is " << BallTarget << "";
#endif
//let the receiver know a pass is coming
Dispatcher->DispatchMsg(SEND_MSG_IMMEDIATELY,
player->ID(),
receiver->ID(),
Msg_ReceiveBall,
&BallTarget);
//the player should wait at his current position unless instruced
//otherwise
player->GetFSM()->ChangeState(Wait::Instance());
player->FindSupport();
return;
}
//cannot shoot or pass, so dribble the ball upfield
else
{
player->FindSupport();
player->GetFSM()->ChangeState(Dribble::Instance());
}
}
