freemarkpos.cpp.svn-base

一个巴西大学编写的2D仿真组足球机器人程序

#include "FreeMarkPos.h"

SoccerCommand FreeMarkPos::primaryAction()
{
   oponnent = WM->getClosestInSetTo( OBJECT_SET_OPPONENTS,WM->getAgentObjectType() );
   distRelOpon = WM->getRelativeDistance( oponnent );
   distRelBall = WM->getRelativeDistance( OBJECT_BALL );
   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)
            {
               aux= WM->getAgentGlobalPosition();
               aux=(posRelBall.operator *( 0.5 ).operator +((posRelBall.operator *( 0.5 )).normal(posRelBall))).operator - (aux);
               return moveToPos( aux , PS->getPlayerWhenToTurnAngle() );
            }
         }
      }
//       else
//       {
//          if( WM->getAgentStamina().getStamina() > SS->getRecoverDecThr()*SS->getStaminaMax()+800 )
//          {
//             moveToPos( (WM->getBallPos() - WM->getAgentGlobalPosition())/20 + WM->getStrategicPosition(), PS->getPlayerWhenToTurnAngle() );
//          }
//       }
   }
}
SoccerCommand FreeMarkPos::cuncurrentAction()
{
   return turnNeckToPoint( OBJECT_BALL , primarySoc );
}