AngleDeg PositionInfo::GetShootAngle(AngleDeg left,AngleDeg right, const PlayerState & state , AngleDeg & interval)
{
vector< pair<Unum, AngleDeg> > tmp;
for (vector<PlayerState*>::const_iterator it = mpWorldState->GetPlayerList().begin(); it != mpWorldState->GetPlayerList().end(); ++it){
if ((*it)->IsAlive() && (*it)->GetPosConf() > FLOAT_EPS && (*it)->GetUnum() != state.GetUnum() &&((*it)->GetPos()-state.GetPos()).Dir() + Rad2Deg(1/10) >left&&((*it)->GetPos()-state.GetPos()).Dir() - Rad2Deg(1/10) <right){//介于左右门柱之间
tmp.push_back(pair<Unum, AngleDeg>((*it)->GetUnum(), ((*it)->GetPos()-state.GetPos()).Dir()));
}
}
if(tmp.size()!=0){
sort(tmp.begin(),tmp.end(),PlayerDirCompare());
vector<pair<int,AngleDeg> > dis;
int i=0;
vector<pair<int,AngleDeg> >::const_iterator it;
for(it = tmp.begin(); it != tmp.end();++it){
if(i==0){
dis.push_back(pair<int,AngleDeg>(i++,((*it).second-left/* - Rad2Deg(1/10) - Rad2Deg(1/3)*/)));
}
else{
dis.push_back(pair<int,AngleDeg>(i++,((*it).second-(*(it-1)).second)/*- 2*Rad2Deg(1/10) - Rad2Deg(1/3)*/));
}
}
dis.push_back(pair<int,AngleDeg>(i,(right-(*(it-1)).second)/*- Rad2Deg(1/10) - Rad2Deg(1/3)*/));
sort(dis.begin(),dis.end(),PlayerDirCompare());
if(dis.back().first==0){
interval = dis.back().second-Rad2Deg(1.0/10.0)-Rad2Deg(1.0/4.0);
return MinMax(left + 1,dis.back().second/2+left-Rad2Deg(1.0/10.0)-Rad2Deg(1.0/4.0),right -1 );
}
else if(dis.back().first == i){
interval = dis.back().second-Rad2Deg(1.0/10.0)-Rad2Deg(1.0/4.0);
return MinMax(left + 1,right -dis.back().second/2+Rad2Deg(1.0/10.0)+Rad2Deg(1.0/4.0),right -1);
}
else{
interval = dis.back().second - 2* Rad2Deg(1.0/10.0) - Rad2Deg(1.0/4.0);
return MinMax(left +1,(*(tmp.begin()+dis.back().first-1)).second + dis.back().second/2 ,right -1);
}
}
else {
interval = right-left ;
return (left+right)/2;
}
}
bool Tackler::MayDangerousIfTackle(const PlayerState & tackler, const WorldState & world_state)
{
if (tackler.GetTackleProb(false) < FLOAT_EPS && tackler.GetTackleProb(true) < FLOAT_EPS) { //不可铲
return false;
}
const Vector tackler_pos = tackler.GetPos();
const Vector ball_pos = world_state.GetBall().GetPos();
const Vector ball_2_tackler = ball_pos - tackler_pos;
const double ball_dist2 = ball_2_tackler.Mod2();
const AngleDeg ball_dir = ball_2_tackler.Dir();
for (unsigned i = 0; i < world_state.GetPlayerList().size(); ++i) {
const PlayerState & opp = *world_state.GetPlayerList()[i];
if (!opp.IsAlive()) continue; //dead
if (opp.GetUnum() * tackler.GetUnum() > 0) continue; //not opp
if (opp.IsIdling()) continue; //idling
if (!opp.IsKickable()) continue; //not kickable
//cond. 1. opp no dashing -- 无从知晓，这里认为对手一定会dash
//cond. 2. ball near -- 球离自己更近，不构成危险情况
Vector opp_2_tackler = opp.GetPos() - tackler_pos;
if (opp_2_tackler.Mod2() > ball_dist2) continue;
//cond. 3. behind or big y_diff -- 对手在自己与球连线方向上在自己身后或错开位置太大，不构成危险情况
opp_2_tackler = opp_2_tackler.Rotate(-ball_dir);
if (opp_2_tackler.X() < 0.0 || std::fabs( opp_2_tackler.Y() ) > opp.GetPlayerSize() + tackler.GetPlayerSize()) continue;
//cond. 4. over body_diff -- 对手身体角度跟自己与球连线方向的夹角大于90度，不构成危险情况
AngleDeg body_diff = std::fabs( GetNormalizeAngleDeg( opp.GetBodyDir() - ball_dir ) );
if (body_diff > 90.0) continue;
return true;
}
return false;
}