base.cpp

robot fira SimuroSot 5vs5 (仿真）

/****************************************************************************************************
base.cpp 艾数机器人足球策略 状态信息枚举体,公用方法

Purpose:
	角色可以使用的动作

author:
	yy_cn

Created Time:
	2006-5-8
****************************************************************************************************/

#include "base.h"

//
// analyseFieldInfo
//
BallField analyseFieldInfo (double x /* = -1.0 */)
{
	static BallField ballField = BF_UNKNOWN;
	if (x != -1.0 && ballField == BF_UNKNOWN) {
		if (x > FLEFTX && x < FORBIDDEN_ZONE_X)
			ballField = BF_IS_LEFT;
		else
			ballField = BF_IS_RIGHT;
	}
	
	return ballField;
}

//
// transform
//
void transform (double &x, double &y)
{
	//
	// 如果在左方场地则不需要转换
	//
	if (analyseFieldInfo () == BF_IS_LEFT)
		return;

	//
	// 右方场地需要转换
	//
	x = (FRIGHTX + FLEFTX) - x;
	y = y;
}

//
// transform
//
void transform (double &rotation)
{
	//
	// 如果在左方场地则不需要转换
	//
	if (analyseFieldInfo () == BF_IS_LEFT)
		return;

	if (rotation < 0)
		rotation = rotation + 180;
	else
        rotation = 180 - rotation;
}

//
// isComprise
//
bool isComprise (double topX, double topY, double botX, double botY, double pointX, double pointY)
{
	if (pointX >= topX && pointX <= botX && pointY <= topY && pointY >= botY)
		return true;
	return false;
}

//
// getDistance
//
double getDistance (double x1, double y1, double x2, double y2)
{
	double x = x1 - x2;
	double y = y1 - y2;
	
	return sqrt (x * x + y * y);
}

//
// getMappedTargetY
//
double getMappedTargetY (double x1, double y1, double x2, double y2, double targetX)
{
	/*
					给定 targetX
						|     #
						|    /| -  -
						|   /a| a1 |
						| @/--| -  a2
						| /b  |    |
  映射点 targetY (*) -> +------    -
						|  |b1|
						|     |
						|--b2-|

        # 机器人坐标
		@ 球坐标
	   (*) 机器人与球两点之间的直线映射到球门 Y 坐标处的点位置

	   a1, b1, a2 已知，求 b2

	   tan a = a1 / b1
	   tan b = a2 / b2
	   tan a == tan b

	   a1 / b1 == a2 / b2
	   b2 = (a1 / b1) * a2
	   映射点 Y = b2 + y1;
	 */
	double a1 = y2 - y1;
	double b1 = x1 - x2;
	double a2 = x1 - targetX;

	return (((a1 / b1) * a2) + y1);
}