void AHAI::executeShootToClear()
{
switch(iStateStep)
{
case AH_STATE_STEP_ENTER:
pTargetPosition.y = pMyPosition.y;
pTargetPosition.x = (pMyPosition.x > 0)? -AH_TABLE_WIDTH / 3.0f: AH_TABLE_WIDTH / 3.0f;
iStateStep = AH_STATE_STEP_EXECUTE;
break;
case AH_STATE_STEP_EXECUTE:
fSpeed = cLevel.SpeedForClearing;
if(targetPositionReached())
{
iStateStep = AH_STATE_STEP_EXIT;
}
break;
case AH_STATE_STEP_EXIT:
selectState(AH_STATE_NOTHING);
break;
default:
break;
}
}
void AHAI::executeGoToBack()
{
switch(iStateStep)
{
case AH_STATE_STEP_ENTER:
pTargetPosition.x = 0.0;
pTargetPosition.y = fNearBackBorder;
iStateStep = AH_STATE_STEP_EXECUTE;
break;
case AH_STATE_STEP_EXECUTE:
fSpeed = cLevel.SpeedForDefending;
if(targetPositionReached() ||
(pPuckPosition.y < pMyPosition.y && abs(pPuckPosition.x) < (AH_TABLE_WIDTH / 6)))
{
iStateStep = AH_STATE_STEP_EXIT;
}
break;
case AH_STATE_STEP_EXIT:
selectState(AH_STATE_NOTHING);
break;
default:
break;
}
}
void AHAI::executeBeAlert()
{
switch(iStateStep)
{
case AH_STATE_STEP_ENTER:
iStateStep = AH_STATE_STEP_EXECUTE;
// average point between puck and goal in my zone
pTargetPosition.x = pPuckPosition.x / 4.0f;
pTargetPosition.y = fMinimumGoalDistance + rand() % round(fAlertZoneHeight);
fSpeed = cLevel.DefaultSpeed;
break;
case AH_STATE_STEP_EXECUTE:
if((targetPositionReached() && (vPuckVelocity.x != 0.0 || vPuckVelocity.y != 0.0)) ||
vPuckVelocity.y < 0.0)
{
iStateStep = AH_STATE_STEP_EXIT;
}
break;
case AH_STATE_STEP_EXIT:
selectState(AH_STATE_NOTHING);
break;
default:
break;
}
}
AHPoint AHAI::go()
{
if(targetPositionReached())
return pMyPosition;
AHPoint pNewPosition;
AHVector vTargetDirection;
vTargetDirection.x = pTargetPosition.x - pMyPosition.x;
vTargetDirection.y = pTargetPosition.y - pMyPosition.y;
setVectorLength(&vTargetDirection, fSpeed);
pNewPosition = pMyPosition;
pNewPosition.x += vTargetDirection.x;
pNewPosition.y += vTargetDirection.y;
return pNewPosition;
}
/**
* \brief Timer status update slot
*/
void focusercontrollerwidget::statusUpdate() {
if (!_focuser) {
return;
}
int current = _focuser->current();
if (current != _previousposition) {
double f = current / 5000.;
ui->positionButton->update(f);
_previousposition = current;
}
int target = ui->positionSpinBox->value();
bool targetreached = current == target;
ui->positionButton->setEnabled(!targetreached);
displayCurrent(current);
if ((targetreached) && (delta != 0)) {
emit targetPositionReached();
}
delta = current - target;
}
void AHAI::executeClearPuck()
{
switch(iStateStep)
{
case AH_STATE_STEP_ENTER:
pTargetPosition.x = (pMyPosition.x < 0)? -AH_TABLE_WIDTH / 6.0f: AH_TABLE_WIDTH / 6.0f;
pTargetPosition.y = AH_MALLET_RADIUS;
iStateStep = AH_STATE_STEP_EXECUTE;
break;
case AH_STATE_STEP_EXECUTE:
if(targetPositionReached() ||
pPuckPosition.y > fNearBackBorder ||
abs(pPuckPosition.x) > (AH_TABLE_WIDTH / 6))
{
iStateStep = AH_STATE_STEP_EXIT;
}
fSpeed = cLevel.SpeedForClearing;
break;
case AH_STATE_STEP_EXIT:
selectState(AH_STATE_SHOOT_TO_CLEAR);
break;
default:
break;
}
}
void AHAI::executePrepareShoot()
{
AHPoint pPuckFuturePosition;
CLine* cShotLine;
float fTimeForThePuckToCome;
float fDistanceToTarget;
int iChoice;
switch(iStateStep)
{
case AH_STATE_STEP_ENTER:
// default: direct shot
pShotPoint = calculateGoalPoint();
iChoice = rand() % 2;
// with bounce
if(iChoice == 1)
{
// against the left wall
if(pMyPosition.x >= 0.0 && pPuckPosition.x < -fHoleToShoot)
pShotPoint.x -= AH_TABLE_WIDTH * (1 + rand() % 2); // one or two bounces
// against the right wall
else if(pMyPosition.x < 0.0 && pPuckPosition.x > fHoleToShoot)
pShotPoint.x += AH_TABLE_WIDTH * (1 + rand() % 2);
}
// puck's future position
fImpulseDistance = fBackSpace;
pPuckFuturePosition.y = pMyPosition.y + fImpulseDistance;
pPuckFuturePosition.x = predictPositionX(pPuckFuturePosition.y);
// shot line
cShotLine = new CLine(pShotPoint.x, pShotPoint.y, pPuckFuturePosition.x, pPuckFuturePosition.y);
pTargetPosition = pMyPosition;
if(cShotLine->can_calculate_x())
pTargetPosition.x = (float)cShotLine->x(pTargetPosition.y);
// speed
if(abs(vPuckVelocity.y) > fStopped)
{
fTimeForThePuckToCome = (pPuckFuturePosition.y - pPuckPosition.y) / vPuckVelocity.y;
fTimeForThePuckToCome = abs(fTimeForThePuckToCome);
fTimeForThePuckToCome -= 2.0; // state change frames
if(fTimeForThePuckToCome < 0.0)
{
fCalculatedSpeed = cLevel.SpeedForShooting;
}
else
{
fDistanceToTarget = (pTargetPosition.x - pMyPosition.x) * (pTargetPosition.x - pMyPosition.x);
fDistanceToTarget += (pTargetPosition.y - pMyPosition.y) * (pTargetPosition.y - pMyPosition.y);
fDistanceToTarget = sqrt(fDistanceToTarget);
fCalculatedSpeed = fDistanceToTarget / fTimeForThePuckToCome;
fCalculatedSpeed = min(cLevel.SpeedForShooting, fCalculatedSpeed);
}
}
else
{
fCalculatedSpeed = cLevel.DefaultSpeed;
}
iStateStep = AH_STATE_STEP_EXECUTE;
break;
case AH_STATE_STEP_EXECUTE:
fSpeed = fCalculatedSpeed;
if(targetPositionReached() || // ready for the shot
pPuckPosition.y <= pMyPosition.y || // the puck has escaped
pPuckPosition.y > (AH_TABLE_HEIGHT / 2) || // the puck is out of my zone
abs(vPuckVelocity.y) < fStopped) // the puck is stopped
{
iStateStep = AH_STATE_STEP_EXIT;
}
break;
case AH_STATE_STEP_EXIT:
if(pPuckPosition.y > pMyPosition.y)
selectState(AH_STATE_SHOOT_TO_GOAL);
else
selectState(AH_STATE_NOTHING);
break;
default:
break;
}
}