src/Game/FootballerFunctions.icl

   1 implementation module FootballerFunctions
   2
   3 import Footballer
   4
   5 returnAI`                                       :: !FootballerAction -> FootballerAI`
   6 returnAI` action                        = const action
   7
   8 move`                                           :: !Speed !Angle -> FootballerAI`
   9 move` speed angle                       = returnAI` (Move speed angle)
  10
  11 halt`                                           :: FootballerAI`
  12 halt`                                           = move` zero zero
  13
  14 rotate`                                         :: !Angle -> FootballerAI`
  15 rotate` angle                           = move` zero angle
  16
  17 ahead`                                          :: !Velocity -> FootballerAI`
  18 ahead` v                                        = \input=:{me} -> move` {direction=me.nose,velocity=v} zero input
  19
  20 fix`                                            :: !Position !Metre -> FootballerAI`
  21 fix` point eps                          = \input=:{me} ->
  22   let distance                          = dist            me point
  23       angle                                     = bearing zero    me point
  24       rotate                            = bearing me.nose me point
  25       v                                         = ms (max 6.0 (toReal distance))
  26   in if (distance <= eps)
  27         (halt` input)
  28             (move` {direction=angle,velocity=v} rotate input)
  29
  30 kick`                                           :: !Position -> FootballerAI`
  31 kick` point                             = \input=:{me} ->
  32   let ball                                      = getBall input
  33       angle                                     = bearing zero me point
  34       v                                         = ms (2.0 * (toReal (dist me point)))
  35   in if (dist me ball <= maxKickReach me)
  36                 (KickBall {vxy = {direction=angle,velocity=v},vz=ms 1.0})
  37                 (halt` input)
  38
  39 track_ball`                                     :: !Metre -> FootballerAI`
  40 track_ball` eps                         = \input -> fix` (getBall input).ballPos.pxy eps input
  41
  42 amnesia                                         :: FootballerAI` -> FootballerAI m
  43 amnesia f                   = \(input,m) -> (f input,m)
  44
  45 returnAI                                        :: (FootballerAction -> FootballerAI m)
  46 returnAI                                        = amnesia o returnAI`
  47
  48 move                                            :: (Speed Angle -> FootballerAI m)
  49 move                                            = \speed angle -> amnesia (move` speed angle)
  50
  51 halt                                            :: (FootballerAI m)
  52 halt                                            = amnesia halt`
  53
  54 rotate                                          :: (Angle -> FootballerAI m)
  55 rotate                                          = amnesia o rotate`
  56
  57 ahead                                           :: (Velocity -> FootballerAI m)
  58 ahead                                           = amnesia o ahead`
  59
  60 fix                                                     :: (Position Metre -> FootballerAI m)
  61 fix                                                     = \point eps -> amnesia (fix` point eps)
  62
  63 kick                                            :: (Position -> FootballerAI m)
  64 kick                                            = amnesia o kick`
  65
  66 track_ball                                      :: (Metre -> FootballerAI m)
  67 track_ball                                      = \eps -> amnesia (track_ball` eps)
  68
  69 centerOfGoal                            :: !Home !FootballField -> Position
  70 centerOfGoal home field         = {zero & px = if (home==West) (~half_length) half_length}
  71 where
  72         half_length                             = scale 0.5 field.flength
  73
  74 (team) infix 9                          :: !Footballer ![Footballer] -> [Footballer]
  75 (team) player players           = filter (sameClub player) players
  76
  77 (opponents) infix 9                     :: !Footballer ![Footballer] -> [Footballer]
  78 (opponents) player players      = filter (not o (sameClub player)) players
  79
  80 getBall                                         :: !BrainInput -> Football
  81 getBall {football,me,others}= getFootball football [me : others]
  82
  83 :: HomeM m                                      = { home :: !Home, mem :: !m }
  84
  85 educate`                                        :: (Home -> FootballerAI`) -> FootballerAI (HomeM m)
  86 educate` home_ai                        = \(input=:{referee},memory) ->
  87   let new_home                          = if (any isEndHalf referee) other id memory.home
  88       action                            = home_ai new_home input
  89   in  (action, {memory & home = new_home})
  90
  91 educate                                         :: (Home -> FootballerAI m) -> FootballerAI (HomeM m)
  92 educate home_ai                         = \(input=:{referee},memory) ->
  93   let new_home                          = if (any isEndHalf referee) other id memory.home
  94       (action,new_memory)       = home_ai new_home (input,memory.mem)
  95   in  (action, {memory & home = new_home, mem = new_memory})