shooter3.c

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#include <airobot/c/ActionListeningRobot.h>

/* 新的踢球算法 */
void shoot(double targetX, double targetY, double ballX, double ballY);

//计算球在times个单位时间后的位置
void next(int times, double* nextX, double* nextY);

void onTick(struct TickAction* action)
{
	
	double targetX = getOpponentGoalCenterX();
	double targetY = getOpponentGoalCenterY();
	double hitedX = getBallX();
	double hitedY = getBallY();
	nextPoint(1,2,3,4,&hitedX,&hitedY);
	printDouble(hitedX);
	printDouble(hitedY);
	
	// 跌代计算球的运行线路，计算未来的击球点
	for (int i = 0; i < 200; i++)
	{
		double nextX, nextY;
		next(i, &nextX, &nextY);
		if (distance(nextX, nextY, getX(), getY()) < i * getMaxMoveVelocity())
		{
			hitedX = nextX;
			hitedY = nextY;
			break;
		}
	}
	shoot(targetX, targetY, hitedX, hitedY);
}

void shoot(double targetX, double targetY, double ballX, double ballY)
{
	/* R越小，抢劫能力就越强，不过背身拿球的能力会减弱 */
	double R =((getBallRadius() + getRadius())*0.93);
	
	double tangentX1, tangentX2, tangentY1, tangentY2; //两个切点的坐标
	double bestHitX, bestHitY; //最佳击球点坐标
	double tangentBearing, ballToMeHeading;

	double distanceToTarget = distance(targetX, targetY, getX(), getY());
	if(distanceToTarget<R) //防止出现异常
	{
		setMoveToward(targetX, targetY, getMaxMoveVelocity());
		return;
	}
	
	tangentBearing = acos(R/distanceToTarget);
	ballToMeHeading = heading(ballX, ballY, getX(), getY());
	
	nextPoint(
		ballX, ballY, 
		ballToMeHeading + tangentBearing,
		R,
		&tangentX1, &tangentY1
	);
	
	nextPoint(
		ballX, ballY,
		ballToMeHeading - tangentBearing,
		R,
		&tangentX2, &tangentY2
	);
	
	nextPoint(
		ballX, ballY,
		heading(targetX, targetY, ballX, ballY),
		R,
		&bestHitX, &bestHitY
	);

	modifyInCourt(&tangentX1, &tangentY1, getRadius());
	modifyInCourt(&tangentX2, &tangentY2, getRadius());
	modifyInCourt(&bestHitX, &bestHitY, getRadius());
	
	if (distance(getX(), getY(), bestHitX, bestHitY) < distance(getX(), getY(), tangentX1, tangentY1))
		setMoveToward(bestHitX, bestHitY, getMaxMoveVelocity());
	else if (distance(bestHitX, bestHitY, tangentX1, tangentY1) < distance(bestHitX, bestHitY, tangentX2, tangentY2))
		setMoveToward(tangentX1, tangentY1, getMaxMoveVelocity());
	else setMoveToward(tangentX2, tangentY2, getMaxMoveVelocity());
}

void next(int times, double* nextX, double* nextY)
{
	double velocity = getBallVelocity(); // 球当前的速度
	double heading = getBallHeading(); // 球当前的方向	
	double acc = -getBallNegativeAcceleration(); // 球的加速度
	*nextX = getBallX();
	*nextY = getBallY();
	
	for (int i = 0; i < times; i++)
	{
		if(velocity==0) break;			
		nextPoint(*nextX, *nextY, heading, velocity * 1, nextX, nextY);

		// 摩擦减速
		if (velocity > 0)
		{
			velocity += acc * 1;
			velocity = fmax(0, velocity);
		}
		else if (velocity < 0)
		{
			velocity -= acc * 1;
			velocity = fmin(0, velocity);
		}
		
		// 撞墙检测
		if ((*nextX) < 0 || (*nextX) > getCourtWidth())
		{
			heading = PI - heading;
			modifyInCourt(nextX, nextY, getBallRadius());
		}
		if ((*nextY) < 0 || (*nextY) > getCourtHeight())
		{
			heading = -heading;
			modifyInCourt(nextX, nextY, getBallRadius());
		}
	}
}