shared_ptr<Action> Player::kickBetween(const Vector2f& goalLeft, const Vector2f& goalRight) {
const Vector2f& posBall = WM.getBallGlobalPos2D();
Vector2f vBL = goalLeft - posBall;
Vector2f vBR = goalRight - posBall;
const AngDeg angLeft = vBL.angle();
const AngDeg angRight = vBR.angle();
const AngDeg angBisector = calBisectorTwoAngles(angRight, angLeft);
Vector2f goal = posBall + pol2xyz(Vector2f(10.0f, angBisector));
return kickTo(goal);
}
bool MidCirclePerceptor::searchWithSXAndT(MidCircle& midCircle) const
{
std::vector<const FieldLineIntersections::Intersection*> useSmallXIntersections;
for(const FieldLineIntersections::Intersection& intersection : theFieldLineIntersections.intersections)
if(intersection.type == FieldLineIntersections::Intersection::X && intersection.additionalType == FieldLineIntersections::Intersection::none)
useSmallXIntersections.push_back(&intersection);
if(useSmallXIntersections.empty())
return false;
static const float distance = theFieldDimensions.yPosLeftSideline - theFieldDimensions.centerCircleRadius ;
std::vector<const FieldLineIntersections::Intersection*> useTIntersections;
for(const FieldLineIntersections::Intersection& intersection : theFieldLineIntersections.intersections)
if(intersection.type == FieldLineIntersections::Intersection::T)
useTIntersections.push_back(&intersection);
for(const FieldLineIntersections::Intersection* intersectionSX : useSmallXIntersections)
for(const FieldLineIntersections::Intersection* intersectionT : useTIntersections)
if(intersectionT->indexDir1 == intersectionSX->indexDir1 || intersectionT->indexDir1 == intersectionSX->indexDir2)
if(std::abs((intersectionT->pos - intersectionSX->pos).norm() - distance) < allowedTsXVariance)
{
const Vector2f dirTToX = intersectionSX->pos - intersectionT->pos;
midCircle.translation = intersectionSX->pos + dirTToX.normalized(theFieldDimensions.centerCircleRadius);
midCircle.rotation = Angle(dirTToX.angle() + pi_2).normalize();// OR intersectionT->dir2.angle();
midCircle.markedPoints.emplace_back(midCircle.translation, MarkedPoint::midCircle);
theIntersectionRelations.propagateMarkedIntersection(MarkedIntersection(intersectionT->ownIndex, MarkedIntersection::BT),
theFieldLineIntersections, theFieldLines, midCircle);
return true;
}
return false;
}
void Bullet::update() {
this->PhysicsObject::updatePhysics();
if (timer.getRunTime() > startTime + Lifespan) {
mIsDead = true;
}
static Vector2f Normal;
static Vector2f CollisionPoint;
static Vector2f MTD;
if (mFriendly && game.mEnemyManager.checkBulletCollision(this)) {
game.mEffectManager.addEffect(
new StaticAnimationEffect(position, .4,
BulletCollisionAnimation32, velocity.angle(), 1));
kill();
return;
}
if (!mFriendly
&& player.checkBulletCollision(this, Normal, CollisionPoint, MTD)) { //player collision
game.mEffectManager.addEffect(
new StaticAnimationEffect(position, .4,
BulletCollisionAnimation32, velocity.angle(), 1));
player.health -= 25;
kill();
return;
}
if (TerrainCollide(position, mRadius)) {
Vector2f normal;
world.getNormal(position.x, normal);
game.mEffectManager.addEffect(
new StaticAnimationEffect(
Vector2f(position.x, world.getHeight(position.x))
+ normal, .8, GroundCollisionAnimation32,
normal.angle() + PI / 2, 1));
kill();
return;
}
}
shared_ptr<Action> Player::goTo(const Vector2f& stopPos, const Vector2f& lookAt, bool avoidBall) {
Vector2f v = lookAt - stopPos;
return goTo(stopPos, v.angle(), avoidBall);
}
