tackle.cpp

robocup3d源化码 Nexus3D.tar.gz

/*
	|No|Copyright (C) 2005 Ferdowsi University
*/

#include "tackle.h"
#include "global.h"

bool Tackle::IsTackleNeeded() 
{
	float TRadious = 0.5;// Treatening Radious
	if (TheirPlayer[FieldInfo.NearestOpponent2(ball.pos)].dist2ball < TRadious)
		return false;
	return true;
}

bool Tackle::TryTackle()
{
	float RiskRadious = 0.7;
	float agentAngle = NormalizeAngle(Rad2Deg(atan2((ball.pos[1]-self.pos[1]),(ball.pos[0]-self.pos[0]))),-180.0);
	if(ball.pos[0] < -30  || self.dist2ball > RiskRadious || self.dist2ball > MyPlayer[FieldInfo.NearestTeammate2(ball.pos)].dist2ball || !IsTackleNeeded() || agentAngle > 75 || agentAngle < -75)
		return false;

	action_info.x = ball.pos[0] ;
	action_info.y = ball.pos[1] ;
	action_info.do_drive = true ;

	action_info.kick_angle = 45;
	action_info.kick_direction = agentAngle;
	action_info.kick_power = 100;
	action_info.do_kick = true;

	return true;
}