interception.cpp

robocup3d源化码 Nexus3D.tar.gz

/*
Copyright (C) 2005 Ferdowsi University
*/


#include "interception.h"
#include "global.h"

Intercept::Intercept()
{
 
}

bool Intercept::TryIntercept()
{
	Vector3f target;
	target[2] = self.pos[2];
	if(ball.vel.Length() > 0.5 && ball.distance > 0.5){
		for(int i = 1; i<12; i++)
		{
			if(i != MyNumber && (MyPlayer[i].pos-predicted_ball_pos[stop_index]).Length() < (self.pos-predicted_ball_pos[stop_index]).Length() - 0.01)
				return false;
		}
		DoLog(LOG_INTERCEPT,"using prediction,interception done");
		target[0] = predicted_ball_pos[stop_index][0];
		target[1] = predicted_ball_pos[stop_index][1];
	}
	else{
		for(int i = 1; i<12; i++)
		{
			if(i != MyNumber && MyPlayer[i].dist2ball < ball.distance - 0.01)
				return false;
		}
		DoLog(LOG_INTERCEPT,"interception done");
		target[0] = ball.pos[0];
		target[1] = ball.pos[1];
	}

	if((self.pos - target).Length() > 1 && ball.vel.Length() < 2)
	{
		float angle = NormalizeAngle(Rad2Deg(atan2((0 - target[1]),(FieldLength/2 - target[0]))),-180.0);
		Vector3f pos = AdjustKickPos.MoveAroundBall(angle);
		//target[0] -= 0.3 * cos(Deg2Rad(angle));
		//target[1] -= 0.3 * sin(Deg2Rad(angle));
		target[0] = pos[0];
		target[1] = pos[1];
		DoLog(LOG_INTERCEPT,"interception Adjusted. target = (%.2f,%.2f)",target[0],target[1]);
	}

	action_info.x = target[0];
	action_info.y = target[1];
	action_info.do_drive = true;
	return true;
}