void freeKick6::setPositions()
{
Position leftDefPos,rightDefPos,goaliePos;
int leftID = -1, rightID = -1 , midID = -1;
bool rightNav , leftNav;
if( wm->ourRobot[tDefenderLeft->getID()].Role == AgentRole::DefenderLeft )
leftID = tDefenderLeft->getID();
if( wm->ourRobot[tDefenderRight->getID()].Role == AgentRole::DefenderRight )
rightID = tDefenderRight->getID();
if( leftChecker > 100 || leftID == -1 )
midID = rightID;
if( rightChecker > 100 || rightID == -1)
midID = leftID;
zonePositions(leftID,rightID,midID,goaliePos,leftDefPos,leftNav,rightDefPos,rightNav);
tGolie->setIdlePosition(goaliePos);
tDefenderLeft->setIdlePosition(leftDefPos);
tDefenderLeft->setUseNav(leftNav);
tDefenderRight->setIdlePosition(rightDefPos);
tDefenderRight->setUseNav(rightNav);
if( leftID != -1)
{
if( (wm->ourRobot[leftID].pos.loc - leftDefPos.loc).length() > 250 )
leftChecker++;
else
leftChecker = 0;
}
if( rightID != -1)
{
if( (wm->ourRobot[rightID].pos.loc - rightDefPos.loc).length() > 250 )
rightChecker++;
else
rightChecker = 0;
}
Position pos;
QList<int> ourAttackers = wm->kn->findAttackers();
ourAttackers.removeOne(tAttackerMid->getID());
QList<int> ourPlayers = wm->kn->ActiveAgents();
Positioning voronoi;
voronoi.setWorldModel(wm);
bool isMatched;
QList<Positioning_Struct> positions = voronoi.kickPositions(ourAttackers,target,isMatched);
for(int i=0;i<positions.size();i++)
{
Positioning_Struct tmp = positions.at(i);
ourPlayers.removeOne(tmp.ourI);
switch (wm->ourRobot[tmp.ourI].Role) {
case AgentRole::AttackerLeft:
pos.loc = tmp.loc;
pos.dir = (Field::oppGoalCenter - pos.loc).dir().radian();
tAttackerLeft->setIdlePosition(pos);
break;
case AgentRole::AttackerRight:
pos.loc = tmp.loc;
pos.dir = (Field::oppGoalCenter - pos.loc).dir().radian();
tAttackerRight->setIdlePosition(pos);
break;
default:
break;
}
}
if( state == 0)
{
if( checkAttackersDistance() )
state = 1;
}
for(int i=0;i<ourPlayers.size();i++)
{
switch (wm->ourRobot[ourPlayers.at(i)].Role) {
case AgentRole::DefenderLeft:
if( state != 0)
{
Vector2D first,second,final;
Line2D t2t(wm->ball.pos.loc, Field::oppGoalCenter);
Circle2D cir(wm->ball.pos.loc ,ALLOW_NEAR_BALL_RANGE+100);
cir.intersection(t2t,&first,&second);
if( wm->ball.pos.loc.x < first.x)
final = first;
else
final = second;
pos.loc = final;
pos.dir = (Field::oppGoalCenter - wm->ball.pos.loc).dir().radian();
tDefenderLeft->setIdlePosition(pos);
if( wm->kn->ReachedToPos(wm->ourRobot[tDefenderLeft->getID()].pos.loc
,pos.loc, 95))
state = 2;
}
break;
case AgentRole::AttackerMid:
if( state == 1)
{
pos.loc = Vector2D(wm->ball.pos.loc.x-200,wm->ball.pos.loc.y);
pos.dir = 0;
tAttackerMid->setIdlePosition(pos);
}
else if(state == 0)
tAttackerMid->setIdlePosition(wm->ourRobot[tAttackerMid->getID()].pos);
break;
default:
break;
}
void freeKickDirect::setPositions()
{
Position leftDefPos,rightDefPos,goaliePos;
int leftID = -1, rightID = -1 , midID = -1;
bool rightNav , leftNav;
if( wm->ourRobot[tDefenderLeft->getID()].Role == AgentRole::DefenderLeft )
leftID = tDefenderLeft->getID();
if( wm->ourRobot[tDefenderRight->getID()].Role == AgentRole::DefenderRight )
rightID = tDefenderRight->getID();
if( leftChecker > 100 || leftID == -1 )
midID = rightID;
if( rightChecker > 100 || rightID == -1)
midID = leftID;
zonePositions(leftID,rightID,midID,goaliePos,leftDefPos,leftNav,rightDefPos,rightNav);
tGolie->setIdlePosition(goaliePos);
tDefenderLeft->setIdlePosition(leftDefPos);
tDefenderLeft->setUseNav(leftNav);
tDefenderRight->setIdlePosition(rightDefPos);
tDefenderRight->setUseNav(rightNav);
if( leftID != -1)
{
if( (wm->ourRobot[leftID].pos.loc - leftDefPos.loc).length() > 250 )
leftChecker++;
else
leftChecker = 0;
}
if( rightID != -1)
{
if( (wm->ourRobot[rightID].pos.loc - rightDefPos.loc).length() > 250 )
rightChecker++;
else
rightChecker = 0;
}
Position pos;
QList<int> ourAttackers = wm->kn->findAttackers();
ourAttackers.removeOne(tAttackerMid->getID());
Positioning voronoi;
voronoi.setWorldModel(wm);
bool isMatched;
QList<Positioning_Struct> positions = voronoi.find_positions(ourAttackers,isMatched);
for(int i=0; i<positions.size(); i++)
{
Positioning_Struct tmp = positions.at(i);
switch (wm->ourRobot[tmp.ourI].Role) {
case AgentRole::AttackerLeft:
pos.loc = tmp.loc;
pos.dir = (Field::oppGoalCenter - pos.loc).dir().radian();
tAttackerLeft->setIdlePosition(pos);
break;
case AgentRole::AttackerRight:
pos.loc = tmp.loc;
pos.dir = (Field::oppGoalCenter - pos.loc).dir().radian();
tAttackerRight->setIdlePosition(pos);
break;
default:
break;
}
}
}
