src/StdTeam/Buffer.icl

   1 implementation module Buffer
   2
   3 import StdEnvExt
   4 import Footballer
   5
   6 buffer :: !FootballField !Home !Edge !FootballerID -> Footballer
   7 buffer field home edge playerID = {defaultFootballer playerID & name   = "buffer"
   8                                                               , length = m 2.2
   9                                                               , skills = (Running, Gaining, Rotating)
  10                                                               , brain  = { memory = {curDir = if (edge == North) (rad (0.5*pi)) (rad (-0.5*pi))}
  11                                                                          , ai     = the_mind_of_a_buffer field home
  12                                                                          }
  13                                                               }
  14
  15 ::      Memory  =       { curDir :: !Angle
  16                                 }
  17
  18 the_mind_of_a_buffer :: !FootballField !Home !(!BrainInput,!Memory) -> (!BrainOutput,!Memory)
  19 the_mind_of_a_buffer field home ({football,others,me},memory)
  20 | dist ball me < maxGainReach me                                                                                                                        // I can gain the ball
  21                                                 = (GainBall,memory)
  22 | dist ball me < m 30.0 && ballIsInZone                                                                                                         // I can not gain the ball, but I can run to it
  23                                                 = (runTowardsBall,memory)
  24 | abs me.pos.py > scale 0.5 field.fwidth - sidebuffer                                                                           // near the edge, turn around
  25                                                 = (Move {velocity = ms 25.0,direction=new_direction} zero, {memory & curDir = new_direction})
  26                                                 with
  27                                                         new_direction   = if (me.speed.direction < zero) (rad (0.5*pi)) (rad (-0.5*pi))
  28 | otherwise                             = (Move {velocity = ms 25.0,direction=memory.curDir} zero,memory)       // no ball, no turning, just keep running
  29 where
  30         sidebuffer                      = scale 0.01 field.fwidth
  31         ball                            = getFootball football [me:others]
  32         ball_x                          = ball.ballPos.pxy.px
  33         ballIsInZone            = if (home == East) (isbetween ball_x (scale  0.15 field.flength) (scale  0.20 field.flength))
  34                                                                     (isbetween ball_x (scale -0.10 field.flength) (scale -0.10 field.flength))
  35         nextBallPos                     = (nextpos ball).ballPos
  36         direction2ball          = bearing me.speed.direction me nextBallPos.pxy
  37         runTowardsBall          = Move {direction=direction2ball,velocity=ms 10.0} zero
  38
  39 nextpos :: !Football -> Football
  40 nextpos ball=:{ballSpeed={vxy={velocity=v,direction=d},vz=v3},ballPos}
  41         = {ball & ballPos   = move_point3D {zero & dxy={dx=m (cosinus d * toReal v),dy=m (sinus d * toReal v)}} ballPos}