//____________________________________________________________________________________
void MdiWindowShadowFactory::removeShadow( QObject* object )
{
if( MdiWindowShadow* windowShadow = findShadow( object ) )
{
windowShadow->hide();
windowShadow->deleteLater();
}
}
//____________________________________________________________________________________
void MdiWindowShadowFactory::installShadow( QObject* object )
{
// cast
QWidget* widget( static_cast<QWidget*>( object ) );
if( !widget->parentWidget() ) return;
// make sure shadow is not already installed
if( findShadow( object ) ) return;
// create new shadow
MdiWindowShadow* windowShadow( new MdiWindowShadow( widget->parentWidget(), _tileSet ) );
windowShadow->setWidget( widget );
windowShadow->show();
return;
}
//Execute the skill. This is the main part of the skill, where you tell the
//robot how to perform the skill.
void ThreeManSideSkill::execute()
{
///If not active, dont do anything!
if(!initialized) return;
//find goalie's shadow
// grab the ball location
if(!presetBall){
ball = strategy->getCurrentRoboCupFrame()->getDefensiveBallLocation();
}
//find blocker's shadow
float y1, y2;
RobotIndex BlockerID = strategy->getCurrentRoboCupFrame()->getRobotByPosition(BLOCKER);
if(BlockerID == NO_ROBOT)
{
//blocker does not exist. we're in trouble
y1 = sp->field.LEFT_GOAL_POST;
y2 = sp->field.LEFT_GOAL_POST;
}
else
{
Pair blocker = getLocation(BlockerID,*currentVisionData,*sp);
findShadow(ball,blocker, *sp, y1, y2);
}
int side=1;
//Figure out which side we should be on.
if(ball.getY() < sp->field.HALF_LINE) side=-side;
if(strategy->getCurrentRoboCupFrame()->getPositionOfRobot(robotID) == DEFENDER){
side=-side;
chase=true;
}
if(side == -1)
{
//y2 = y1;
y1 = sp->field.RIGHT_GOAL_POST - sp->general.BALL_RADIUS;
y2 = sp->field.SPLIT_LINE - sp->general.BALL_RADIUS;
// if(y2<y1)y2=y1;
}
else
{
// y1=y2;
// if(y2<y1)y1=y2;
y1 = sp->field.SPLIT_LINE + sp->general.BALL_RADIUS;
y2 = sp->field.LEFT_GOAL_POST + sp->general.BALL_RADIUS;
}
if(presetBall){
((CutGoalSkill *)skillSet->getSkill(CutGoalSkill::skillNum))->initialize(y1,y2,UPPER_X,LOWER_X,ball);
}else{
((CutGoalSkill *)skillSet->getSkill(CutGoalSkill::skillNum))->initialize(y1,y2,UPPER_X,LOWER_X);
}
skillSet->getSkill(CutGoalSkill::skillNum)->run();
Pair robotLoc = getLocation(robotID, *currentVisionData, *sp);
//make him look at the ball, but never rotate too far back
float destAngle = angleBetween(robotLoc, getBallLocation(*currentVisionData));
float maxAngle = 3.0f*PI/8.0f;
if(destAngle > maxAngle)
destAngle = maxAngle;
if(destAngle < -maxAngle)
destAngle = -maxAngle;
command->setRotation(destAngle);
/*
//if robot moving past other side, make him run to the close side of the other robot, forcing
//position switching with obstacle avoidance getting in the way
int friendID;
if(strategy->getCurrentRoboCupFrame()->getRobotByPosition(DEFENDER) == robotID)
friendID = strategy->getCurrentRoboCupFrame()->getRobotByPosition(SPECIAL_OP_DEFENDER);
else
friendID = strategy->getCurrentRoboCupFrame()->getRobotByPosition(DEFENDER);
if(friendID != NO_ROBOT)
{
Pair friendLoc = getLocation((RobotIndex)friendID, *currentVisionData, *sp);
Pair robotLoc = getLocation(robotID, *currentVisionData, *sp);
//other guy closer, go to his side
if(friendLoc.squareDistanceTo(command->getPos()) < robotLoc.squareDistanceTo(command->getPos()))
{
command->setXPos(friendLoc.getX());
if(friendLoc.getY() < robotLoc.getY())
{
command->setYPos(friendLoc.getY() + 2.0f*sp->general.PLAYER_RADIUS);
}
else
{
command->setYPos(friendLoc.getY() - 2.0f*sp->general.PLAYER_RADIUS);
}
}
}
*/
//see if we should run out and kick the ball
if(
ball.distanceTo(command->getPos()) <= sp->general.PLAYER_RADIUS + KICK_DIST &&
kickSafe(robotID, *currentVisionData, *sp, *strategy->getCurrentRoboCupFrame())
)
{
strategy->getCurrentFrame()->setMessage(robotID,"3Man: Kicking ball away");
command->setPos(robotPositionGivenFront(ball,0.0f,*sp));
}
if(
ABS(getRotation(robotID,*currentVisionData,*sp)) <= KICK_ANGLE &&
kickSafe(robotID, *currentVisionData, *sp, *strategy->getCurrentRoboCupFrame())
)
{
command->setKick(KICK_SHOT);
}
//debugging only:
findShadow(ball,getLocation(robotID,*currentVisionData,*sp),*sp,y1,y2);
GUI_Record.debuggingInfo.setDebugPoint(robotID,1,sp->field.OUR_GOAL_LINE,y1);
GUI_Record.debuggingInfo.setDebugPoint(robotID,2,sp->field.OUR_GOAL_LINE,y2);
}
