kicktogoal.cpp.svn-base

一个巴西大学编写的2D仿真组足球机器人程序

#include "KickToGoal.h"

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

SoccerCommand KickToGoal::cuncurrentAction()
{
   return turnNeckToObject( OBJECT_BALL, primarySoc );
}

KickToGoal::KickToGoal():Behavior()
{
   posGoal.setX(PITCH_LENGTH/2.0);
   posGoal.setY(0.4 * SS->getGoalWidth());
}

void KickToGoal::kickToGoal()
{
   posGoal.setY( posGoal.getY() * ( getPositionYOpponent1() ) );
   primarySoc = kickTo( posGoal, SS->getBallSpeedMax() );
}

double KickToGoal::getPositionYOpponent1()
{
   if( (WM->isVisible( OBJECT_OPPONENT_1 )) && (WM->getAgentGlobalPosition().getX() > 25 ))
   {
      if(WM->getSide() == SIDE_LEFT)
      {
         //verifica se o goleiro esta fora da area de chute a gol, do lado esquerdo do campo.
         if( abs((int)WM->getRelativeAngle( OBJECT_FLAG_G_L_T, false) - (int)WM->getRelativeAngle( OBJECT_GOAL_L, false )) < abs( (int)WM->getRelativeAngle( OBJECT_OPPONENT_1, false) - (int)WM->getRelativeAngle( OBJECT_GOAL_L, false )))
         return 0;

         //verifica qual angulo esta mais aberto para o chute.
         else if( abs((int)WM->getRelativeAngle( OBJECT_FLAG_G_L_T, false )-  (int)WM->getRelativeAngle(OBJECT_OPPONENT_1,false))  >  abs((int)WM->getRelativeAngle(OBJECT_OPPONENT_1,false) - (int)WM->getRelativeAngle(OBJECT_FLAG_G_L_B,false) ) ) 
         return 1; //right

         else return -1; //left
      }
      else if( WM->getSide() == SIDE_RIGHT)
      {
         //verifica se o goleiro esta fora da area de chute a gol, do lado direito do campo.
         if( abs((int)WM->getRelativeAngle( OBJECT_FLAG_G_R_T, false) - (int)WM->getRelativeAngle( OBJECT_GOAL_R, false )) < abs( (int)WM->getRelativeAngle( OBJECT_OPPONENT_1, false) - (int)WM->getRelativeAngle( OBJECT_GOAL_R, false )))
         return 0;
 
         //verifica qual angulo esta mais aberto para o chute.
         else if( abs( (int)WM->getRelativeAngle(OBJECT_FLAG_G_R_T,false) - (int)WM->getRelativeAngle(OBJECT_OPPONENT_1,false)) > abs( (int)WM->getRelativeAngle(OBJECT_OPPONENT_1,false) - (int)WM->getRelativeAngle(OBJECT_FLAG_G_R_B,false))) 
         return 1; //left
 
         else return -1; //right
      }
   }
   else return (-1 + 2*(WM->getCurrentCycle()%2));
}

/*! Este metodo configura o agente a chutar a bola para frente em direcao ao canto direito do gol com
    uma potencia maxima. */
void KickToGoal::kickToGoalRight()
{
   double pos;
   pos = 0.4 * SS->getGoalWidth();
   VecPosition posGoal( PITCH_LENGTH/2.0,pos);
   primarySoc = kickTo( posGoal, SS->getBallSpeedMax() ); // kick maximal
}

/*! Este metodo configura faz o agente chutar a bola para frente em direcao ao canto esquerdo do gol com
   uma potencia maxima.  */
void KickToGoal::kickToGoalLeft()
{
   double pos;
   pos = -0.4 * SS->getGoalWidth();
   VecPosition posGoal( PITCH_LENGTH/2.0,pos);
   primarySoc = kickTo( posGoal, SS->getBallSpeedMax() ); // kick maximal
}

/*! Este metodo faz o agente chutar a bola para frente em direcao ao centro do gol com
    uma potencia maxima. 
    \return um comando de chute a goal */
void KickToGoal::kickToGoalCenter()
{
   VecPosition posGoal( PITCH_LENGTH/2.0, 0 );
   primarySoc = kickTo( posGoal, SS->getBallSpeedMax() ); // kick maximal
}