src/StdTeam/KeeperChallenger.icl

   1 implementation module KeeperChallenger
   2
   3 import Team
   4
   5 keeperChallenger                                        :: !FootballerID -> Footballer
   6 keeperChallenger playerID                       = { defaultFootballer playerID & name   = "Zidane"
   7                                                                                                , length = m 2.2
   8                                                                                                , skills = (Gaining, Catching, Kicking)
   9                                                                                                , brain  = {memory = {waitToKick = 0}, ai = mind}
  10                                                                   }
  11
  12 ::      Memory                                                  = { waitToKick  :: !Int }
  13
  14 decreaseWait                                            :: !Memory -> Memory
  15 decreaseWait memory=:{waitToKick}       = {memory & waitToKick = max 0 (waitToKick-1)}
  16
  17 startWaiting                                            :: !Memory -> Memory
  18 startWaiting memory                                     = {memory & waitToKick = 20}
  19
  20 mind                                                            :: !(!BrainInput,!Memory) -> (!BrainOutput,!Memory)
  21 mind ({football,others,me},memory)
  22 | memory.waitToKick > 0                         = (Move zero zero,decreaseWait memory)
  23 | ballIsGainedBy me.playerID football
  24                                                                         = (KickBall {vxy={direction=bearing zero me next_pos,velocity=ms (max 5.0 (toReal (dist me next_pos)))},vz=ms 1.0},startWaiting memory)
  25 | ballIsFree football && i_am_closest_to_ball
  26         | dist_to_free_ball <= maxGainReach me
  27                                                                         = (GainBall,memory)
  28         | otherwise                                             = (Move {direction=angle_with_free_ball,velocity=ms 4.0} (angle_with_free_ball - me.nose),memory)
  29 | otherwise                                                     = (Move zero zero,memory)
  30 where
  31         team_players                                    = filter (sameClub me) others
  32         my_nr                                                   = me.playerID.playerNr
  33         next_nr                                                 = ((my_nr-1) rem (length team_players)) + 2
  34         next_player                                             = hd (filter (identify_player {me.playerID & playerNr=next_nr}) team_players)
  35         next_pos                                                = next_player.pos
  36         free_ball                                               = getFootball football [me:others]
  37         angle_with_free_ball                    = bearing zero me free_ball
  38         dist_to_free_ball                               = dist me free_ball
  39         i_am_closest_to_ball                    = dist_to_free_ball <= minList (map (dist free_ball) team_players)