void
BallInterception::call( )
{
// Detectamos si la habilidad ha sido interrumpuda
if( m_world->time() - m_last_call_time > 1 )
m_state = START;
m_last_call_time = m_world->time();
State tmp_state = m_state;
switch( tmp_state )
{
case START:
start();
break;
case SEARCH_BALL:
searchBall();
break;
case COMPUTE_POINT_TURN:
computePointTurn();
break;
case GO:
go();
break;
case FREEZE:
freeze();
break;
}
}
void
BallInterception::start()
{
m_state = START;
m_turn_requested = false;
searchBall();
}
/*!This method is the first complete simple team and defines the actions taken
by all the players on the field (excluding the goalie). It is based on the
high-level actions taken by the simple team FC Portugal that it released in
2000. The players do the following:
- if ball is kickable
kick ball to goal (random corner of goal)
- else if i am fastest player to ball
intercept the ball
- else
move to strategic position based on your home position and pos ball */
SoccerCommand Player::deMeer5( )
{
SoccerCommand soc(CMD_ILLEGAL);
VecPosition posAgent = WM->getAgentGlobalPosition();
VecPosition posBall = WM->getBallPos();
int iTmp;
if( WM->isBeforeKickOff( ) )
{
if( WM->isKickOffUs( ) && WM->getPlayerNumber() == 9 ) // 9 takes kick
{
if( WM->isBallKickable() )
{
VecPosition posGoal( PITCH_LENGTH/2.0,
(-1 + 2*(WM->getCurrentCycle()%2)) *
0.4 * SS->getGoalWidth() );
soc = kickTo( posGoal, SS->getBallSpeedMax() ); // kick maximal
Log.log( 100, "take kick off" );
}
else
{
soc = intercept( false );
Log.log( 100, "move to ball to take kick-off" );
}
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
return soc;
}
if( formations->getFormation() != FT_INITIAL || // not in kickoff formation
posAgent.getDistanceTo( WM->getStrategicPosition() ) > 2.0 )
{
formations->setFormation( FT_INITIAL ); // go to kick_off formation
ACT->putCommandInQueue( soc=teleportToPos( WM->getStrategicPosition() ));
}
else // else turn to center
{
ACT->putCommandInQueue( soc=turnBodyToPoint( VecPosition( 0, 0 ), 0 ) );
ACT->putCommandInQueue( alignNeckWithBody( ) );
}
}
else
{
formations->setFormation( FT_433_OFFENSIVE );
soc.commandType = CMD_ILLEGAL;
if( WM->getConfidence( OBJECT_BALL ) < PS->getBallConfThr() )
{
ACT->putCommandInQueue( soc = searchBall() ); // if ball pos unknown
ACT->putCommandInQueue( alignNeckWithBody( ) ); // search for it
}
else if( WM->isBallKickable()) // if kickable
{
VecPosition posGoal( PITCH_LENGTH/2.0,
(-1 + 2*(WM->getCurrentCycle()%2)) * 0.4 * SS->getGoalWidth() );
soc = kickTo( posGoal, SS->getBallSpeedMax() ); // kick maxima
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
Log.log( 100, "kick ball" );
}
else if( WM->getFastestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL, &iTmp )
== WM->getAgentObjectType() && !WM->isDeadBallThem() )
{ // if fastest to ball
Log.log( 100, "I am fastest to ball; can get there in %d cycles", iTmp );
soc = intercept( false ); // intercept the ball
if( soc.commandType == CMD_DASH && // if stamina low
WM->getAgentStamina().getStamina() <
SS->getRecoverDecThr()*SS->getStaminaMax()+200 )
{
soc.dPower = 30.0 * WM->getAgentStamina().getRecovery(); // dash slow
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else // if stamina high
{
ACT->putCommandInQueue( soc ); // dash as intended
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
}
else if( posAgent.getDistanceTo(WM->getStrategicPosition()) >
1.5 + fabs(posAgent.getX()-posBall.getX())/10.0)
// if not near strategic pos
{
if( WM->getAgentStamina().getStamina() > // if stamina high
SS->getRecoverDecThr()*SS->getStaminaMax()+800 )
{
soc = moveToPos(WM->getStrategicPosition(),
PS->getPlayerWhenToTurnAngle());
ACT->putCommandInQueue( soc ); // move to strategic pos
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else // else watch ball
{
ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
}
else if( fabs( WM->getRelativeAngle( OBJECT_BALL ) ) > 1.0 ) // watch ball
{
ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else // nothing to do
ACT->putCommandInQueue( SoccerCommand(CMD_TURNNECK,0.0) );
}
return soc;
}
/*!This method is a simple goalie based on the goalie of the simple Team of
FC Portugal. It defines a rectangle in its penalty area and moves to the
position on this rectangle where the ball intersects if you make a line
between the ball position and the center of the goal. If the ball can
be intercepted in the own penalty area the ball is intercepted and catched.
*/
SoccerCommand Player::deMeer5_goalie( )
{
int i;
SoccerCommand soc;
VecPosition posAgent = WM->getAgentGlobalPosition();
AngDeg angBody = WM->getAgentGlobalBodyAngle();
// define the top and bottom position of a rectangle in which keeper moves
static const VecPosition posLeftTop( -PITCH_LENGTH/2.0 +
0.7*PENALTY_AREA_LENGTH, -PENALTY_AREA_WIDTH/4.0 );
static const VecPosition posRightTop( -PITCH_LENGTH/2.0 +
0.7*PENALTY_AREA_LENGTH, +PENALTY_AREA_WIDTH/4.0 );
// define the borders of this rectangle using the two points.
static Line lineFront = Line::makeLineFromTwoPoints(posLeftTop,posRightTop);
static Line lineLeft = Line::makeLineFromTwoPoints(
VecPosition( -50.0, posLeftTop.getY()), posLeftTop );
static Line lineRight = Line::makeLineFromTwoPoints(
VecPosition( -50.0, posRightTop.getY()),posRightTop );
if( WM->isBeforeKickOff( ) )
{
if( formations->getFormation() != FT_INITIAL || // not in kickoff formation
posAgent.getDistanceTo( WM->getStrategicPosition() ) > 2.0 )
{
formations->setFormation( FT_INITIAL ); // go to kick_off formation
ACT->putCommandInQueue( soc=teleportToPos(WM->getStrategicPosition()) );
}
else // else turn to center
{
ACT->putCommandInQueue( soc = turnBodyToPoint( VecPosition( 0, 0 ), 0 ));
ACT->putCommandInQueue( alignNeckWithBody( ) );
}
return soc;
}
if( WM->getConfidence( OBJECT_BALL ) < PS->getBallConfThr() )
{ // confidence ball too low
ACT->putCommandInQueue( searchBall() ); // search ball
ACT->putCommandInQueue( alignNeckWithBody( ) );
}
else if( WM->getPlayMode() == PM_PLAY_ON || WM->isFreeKickThem() ||
WM->isCornerKickThem() )
{
if( WM->isBallCatchable() )
{
ACT->putCommandInQueue( soc = catchBall() );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else if( WM->isBallKickable() )
{
soc = kickTo( VecPosition(0,posAgent.getY()*2.0), 2.0 );
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else if( WM->isInOwnPenaltyArea( getInterceptionPointBall( &i, true ) ) &&
WM->getFastestInSetTo( OBJECT_SET_PLAYERS, OBJECT_BALL, &i ) ==
WM->getAgentObjectType() )
{
ACT->putCommandInQueue( soc = intercept( true ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else
{
// make line between own goal and the ball
VecPosition posMyGoal = ( WM->getSide() == SIDE_LEFT )
? SoccerTypes::getGlobalPositionFlag(OBJECT_GOAL_L, SIDE_LEFT )
: SoccerTypes::getGlobalPositionFlag(OBJECT_GOAL_R, SIDE_RIGHT);
Line lineBall = Line::makeLineFromTwoPoints( WM->getBallPos(),posMyGoal);
// determine where your front line intersects with the line from ball
VecPosition posIntersect = lineFront.getIntersection( lineBall );
// outside rectangle, use line at side to get intersection
if (posIntersect.isRightOf( posRightTop ) )
posIntersect = lineRight.getIntersection( lineBall );
else if (posIntersect.isLeftOf( posLeftTop ) )
posIntersect = lineLeft.getIntersection( lineBall );
if( posIntersect.getX() < -49.0 )
posIntersect.setX( -49.0 );
// and move to this position
if( posIntersect.getDistanceTo( WM->getAgentGlobalPosition() ) > 0.5 )
{
soc = moveToPos( posIntersect, PS->getPlayerWhenToTurnAngle() );
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else
{
ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
}
}
else if( WM->isFreeKickUs() == true || WM->isGoalKickUs() == true )
{
if( WM->isBallKickable() )
{
if( WM->getTimeSinceLastCatch() == 25 && WM->isFreeKickUs() )
{
// move to position with lesser opponents.
if( WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS,
Circle(posRightTop, 15.0 )) <
WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS,
Circle(posLeftTop, 15.0 )) )
soc.makeCommand( CMD_MOVE,posRightTop.getX(),posRightTop.getY(),0.0);
else
soc.makeCommand( CMD_MOVE,posLeftTop.getX(), posLeftTop.getY(), 0.0);
ACT->putCommandInQueue( soc );
}
else if( WM->getTimeSinceLastCatch() > 28 )
{
soc = kickTo( VecPosition(0,posAgent.getY()*2.0), 2.0 );
ACT->putCommandInQueue( soc );
}
else if( WM->getTimeSinceLastCatch() < 25 )
{
VecPosition posSide( 0.0, posAgent.getY() );
if( fabs( (posSide - posAgent).getDirection() - angBody) > 10 )
{
soc = turnBodyToPoint( posSide );
ACT->putCommandInQueue( soc );
}
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
}
else if( WM->isGoalKickUs() )
{
ACT->putCommandInQueue( soc = intercept( true ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else
{
ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
return soc;
}
