stayawayofmark.cpp.svn-base

一个巴西大学编写的2D仿真组足球机器人程序

#include "StayAwayOfMark.h"

SoccerCommand StayAwayOfMark::primaryAction()
{
   return primarySoc;
}

void StayAwayOfMark::freeMark()
{
   if( WM->getAgentStamina().getStamina() >     // if stamina high
         SS->getRecoverDecThr()*SS->getStaminaMax()+800 )
   {
      primarySoc = moveToPos( (WM->getBallPos() + WM->getStrategicPosition())/2,
                              PS->getPlayerWhenToTurnAngle()
                            ); // move to strategic pos
      cuncurrentSoc = turnNeckToObject( OBJECT_BALL, primarySoc );
   }
   else                                        // else watch ball
   {
      primarySoc = turnBodyToObject( OBJECT_BALL );
      cuncurrentSoc = turnNeckToObject( OBJECT_BALL, primarySoc );
   }
}

void StayAwayOfMark::freeMarkPos()
{
   oponnent = WM->getClosestInSetTo( OBJECT_SET_OPPONENTS,WM->getAgentObjectType() );
   distRelOpon = WM->getRelativeDistance( oponnent );
   distRelBall = WM->getRelativeDistance( OBJECT_BALL );
   //cout<<"Free mark"<<endl;
   if( distRelOpon < distRelBall )
   {
      posRelOpon = WM->getRelativePosition( oponnent );
      posRelBall = WM->getRelativePosition( OBJECT_BALL );
      aux = posRelBall.operator *(posRelOpon);
      angulo = (acos(aux.modulo(aux)/(distRelBall*distRelOpon)))*180/3.14159;
      if( angulo < 30 )
      {
         if( posRelOpon.modulo(posRelOpon) < 10 )
         {
            if(WM->getAgentGlobalPosition().getX() >  WM->getGlobalPosition(OBJECT_BALL).getX() + 10)
            {
		//cout<<"Desmarcando..."<<endl;
               aux= WM->getAgentGlobalPosition();
		//cout<<"player:"<<endl;
		//aux.imprime_posicao(aux);
               aux=(posRelBall.operator *( 0.5 ).operator +((posRelBall.operator *( 0.5 )).normal(posRelBall))).operator -(aux);
		//cout<<"iniciais"<<endl;
		//posRelBall.imprime_posicao(posRelBall);
		//posRelOpon.imprime_posicao(posRelOpon);
		//cout<<"posicao:"<<endl;
		//aux.imprime_posicao(aux);
               primarySoc = moveToPos( aux , PS->getPlayerWhenToTurnAngle() );
	       cuncurrentSoc = turnNeckToObject(OBJECT_BALL,primarySoc);
            }
         }
	else
      	{
	  if( WM->getAgentStamina().getStamina() >        SS->getRecoverDecThr()*SS->getStaminaMax()+800 )
   	  {
      		primarySoc = moveToPos(WM->getStrategicPosition(), PS->getPlayerWhenToTurnAngle());
   	  }
      	}
      }
      else
      {
	  if( WM->getAgentStamina().getStamina() >        SS->getRecoverDecThr()*SS->getStaminaMax()+800 )
   	  {
      		primarySoc = moveToPos(WM->getStrategicPosition(), PS->getPlayerWhenToTurnAngle());
   	  }
      }
   }
}

SoccerCommand StayAwayOfMark::cuncurrentAction()
{
   return cuncurrentSoc;
}

/*         if( WM->getAgentStamina().getStamina() >     // if stamina high
             SS->getRecoverDecThr()*SS->getStaminaMax()+800 )
         {
            soc = moveToPos( WM->getBallPos()/20 + 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 ) );
         }
         agentHadBall = false; */