dribble.cpp

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 /*
Copyright (C) 2005 Ferdowsi University
*/


#include "dribble.h"
#include "global.h"

Dribble::Dribble()
{
}

void Dribble::GeneratePossibleDribbles()
{
	for(int i=0; i<13 ; i++)
	{
		dribbleinfo[i].confidence = 0;
		dribbleinfo[i].angle = 0;
		dribbleinfo[i].direction = -90 + i*15;
		dribbleinfo[i].speed = 10;
	}
}

bool Dribble::CanDribble()
{
	bool sw = false;
	Vector3f v;
	GeneratePossibleDribbles();
	for(int i = 0; i<13 ;i++)
	{
		v[0] = dribbleinfo[i].speed / 10 * cos(Deg2Rad(dribbleinfo[i].direction));
		v[1] = dribbleinfo[i].speed / 10 * sin(Deg2Rad(dribbleinfo[i].direction));
		v[2] = 0;
		float agent_angle = NormalizeAngle(Rad2Deg(atan2((self.pos[1] - ball.pos[1]),(self.pos[0] - ball.pos[0]))),-180.0);
		float goal_angle = NormalizeAngle(Rad2Deg(atan2((0-ball.pos[1]),(FieldLength/2 - ball.pos[0]))),-180.0);
		if(!OpponentCanIntercept(v))
		{
			sw = true;
			dribbleinfo[i].confidence = 1/
				((fabs(agent_angle - dribbleinfo[i].direction)/180*4)	//2 times effect
    				+ (fabs(goal_angle - dribbleinfo[i].direction))/180);
			DoLog(LOG_DRIBBLE,"dribbleinfo[%d], confidence = %.2f, direction = %.2f, power = %.2f",i,dribbleinfo[i].confidence,dribbleinfo[i].direction,dribbleinfo[i].speed);
		}
	}
	DoLog(LOG_DRIBBLE,"dribblable=%d",sw);
	return sw;
}

DribbleInfo Dribble::GetBestDribble()
{
	int best = 0;
	float max = 0;
	for(int i = 0; i<13 ;i++)
		if(dribbleinfo[i].confidence > max)
		{
			max = dribbleinfo[i].confidence;
			best = i;
		}
	DoLog(LOG_DRIBBLE,"best dribble = dribbleinfo[%d], confidence = %.2f, direction = %.2f power = %.2f",best,dribbleinfo[best].confidence,dribbleinfo[best].direction,dribbleinfo[best].speed);
	return dribbleinfo[best];
}