initial framework added

[fp1415-soccerfun.git] / src / StdTeam / Buffer.icl

diff --git a/src/StdTeam/Buffer.icl b/src/StdTeam/Buffer.icl
new file mode 100644 (file)
index 0000000..b82a022
--- /dev/null
+++ b/src/StdTeam/Buffer.icl
@@ -0,0 +1,41 @@
+implementation module Buffer\r
+\r
+import StdEnvExt\r
+import Footballer\r
+\r
+buffer :: !FootballField !Home !Edge !FootballerID -> Footballer\r
+buffer field home edge playerID = {defaultFootballer playerID & name   = "buffer"\r
+                                                              , length = m 2.2\r
+                                                              , skills = (Running, Gaining, Rotating)\r
+                                                              , brain  = { memory = {curDir = if (edge == North) (rad (0.5*pi)) (rad (-0.5*pi))}\r
+                                                                         , ai     = the_mind_of_a_buffer field home\r
+                                                                         }\r
+                                                              }\r
+\r
+::     Memory  =       { curDir :: !Angle\r
+                               }\r
+\r
+the_mind_of_a_buffer :: !FootballField !Home !(!BrainInput,!Memory) -> (!BrainOutput,!Memory)\r
+the_mind_of_a_buffer field home ({football,others,me},memory)\r
+| dist ball me < maxGainReach me                                                                                                                       // I can gain the ball\r
+                                               = (GainBall,memory)\r
+| dist ball me < m 30.0 && ballIsInZone                                                                                                                // I can not gain the ball, but I can run to it\r
+                                               = (runTowardsBall,memory)\r
+| abs me.pos.py > scale 0.5 field.fwidth - sidebuffer                                                                          // near the edge, turn around\r
+                                               = (Move {velocity = ms 25.0,direction=new_direction} zero, {memory & curDir = new_direction})\r
+                                               with\r
+                                                       new_direction   = if (me.speed.direction < zero) (rad (0.5*pi)) (rad (-0.5*pi))\r
+| otherwise                            = (Move {velocity = ms 25.0,direction=memory.curDir} zero,memory)       // no ball, no turning, just keep running\r
+where\r
+       sidebuffer                      = scale 0.01 field.fwidth\r
+       ball                            = getFootball football [me:others]\r
+       ball_x                          = ball.ballPos.pxy.px\r
+       ballIsInZone            = if (home == East) (isbetween ball_x (scale  0.15 field.flength) (scale  0.20 field.flength))\r
+                                                                   (isbetween ball_x (scale -0.10 field.flength) (scale -0.10 field.flength))\r
+       nextBallPos                     = (nextpos ball).ballPos\r
+       direction2ball          = bearing me.speed.direction me nextBallPos.pxy\r
+       runTowardsBall          = Move {direction=direction2ball,velocity=ms 10.0} zero\r
+\r
+nextpos :: !Football -> Football\r
+nextpos ball=:{ballSpeed={vxy={velocity=v,direction=d},vz=v3},ballPos}\r
+       = {ball & ballPos   = move_point3D {zero & dxy={dx=m (cosinus d * toReal v),dy=m (sinus d * toReal v)}} ballPos}\r