public bool CheckIfGoalScored(SoccerBall ball)
{
bool scored = Geometry.LineIntersection2D(ball.Position, ball.OldPosition, _leftPost, _rightPost);
if( scored )
{
_goalsScored++;
}
return scored;
}
public bool CheckIfGoalScored(SoccerBall ball)
{
bool scored = Geometry.LineIntersection2D(ball.Position, ball.OldPosition, _leftPost, _rightPost);
if (scored)
{
_goalsScored++;
}
return(scored);
}
public SteeringBehaviors(PlayerBase player, SoccerBall ball)
{
_player = player;
_ball = ball;
_separationMultiple = ParameterManager.Instance.SeparationCoefficient;
_viewDistance = ParameterManager.Instance.ViewDistance;
_tagged = false;
_interposeDist = 0.0;
_behaviorFlags = (int)BehaviorFlags.None;
_dribbleFeelers = new List <Vector2D>(5);
for (int i = 0; i < _dribbleFeelers.Count; i++)
{
_dribbleFeelers[i] = new Vector2D();
}
}
/// <summary>
/// This behavior creates a force that steers the agent towards the
// ball
/// </summary>
/// <param name="ball"></param>
/// <returns></returns>
protected Vector2D calculatePursuitVector(SoccerBall ball)
{
Vector2D toBall = ball.Position - _player.Position;
//the lookahead time is proportional to the distance between the ball
//and the pursuer;
double lookAheadTime = 0.0;
if (Math.Abs(ball.Speed) > Geometry.MinPrecision)
{
lookAheadTime = toBall.Length / ball.Speed;
}
//calculate where the ball will be at this time in the future
_target = ball.CalculateFuturePosition(lookAheadTime);
//now seek to the predicted future position of the ball
return(calculateArriveVector(_target, DecelerationState.Fast));
}
public override void Execute(FieldPlayer player)
{
Random random = new Random();
//calculate the dot product of the vector pointing to the ball
//and the player's heading
Vector2D ToBall = player.Ball.Position - player.Position;
double dot = player.Heading.GetDotProduct(Vector2D.Vec2DNormalize(ToBall));
//cannot kick the ball if the goalkeeper is in possession or if it is
//behind the player or if there is already an assigned receiver. So just
//continue chasing the ball
if (player.Team.ReceivingPlayer != null ||
player.Pitch.GoalKeeperHasBall ||
(dot < 0))
{
System.Diagnostics.Debug.WriteLine("Goaly has ball / ball behind player");
player.StateMachine.ChangeState(ChaseBallState.Instance);
return;
}
/* Attempt a shot at the goal */
//if a shot is possible, this vector will hold the position along the
//opponent's goal line the player should aim for.
Vector2D BallTarget = new Vector2D();
//the dot product is used to adjust the shooting force. The more
//directly the ball is ahead, the more forceful the kick
double power = ParameterManager.Instance.MaxShootingForce * dot;
double distance = player.Position.Distance(player.Team.OpponentsGoal.GoalLineCenter);
//if it is determined that the player could score a goal from this position
//OR if he should just kick the ball anyway, the player will attempt
//to make the shot
if (player.Team.CanShoot(player.Ball.Position,
power,
ref BallTarget) ||
(random.NextDouble() < ParameterManager.Instance.ChancePlayerAttemptsPotShot) ||
distance < player.Pitch.PlayingArea.Width / 8)
{
System.Diagnostics.Debug.WriteLine(string.Format("Player {0} attempts a shot at ({1}, {2})", player.ObjectId, BallTarget.X, BallTarget.Y));
//add some noise to the kick. We don't want players who are
//too accurate! The amount of noise can be adjusted by altering
//Prm.PlayerKickingAccuracy
BallTarget = SoccerBall.AddNoiseToKick(player.Ball.Position, BallTarget);
//this is the direction the ball will be kicked in
Vector2D KickDirection = BallTarget - player.Ball.Position;
player.Ball.Kick(KickDirection, power);
//change state
player.StateMachine.ChangeState(WaitState.Instance);
player.FindSupport();
return;
}
/* Attempt a pass to a player */
//if a receiver is found this will point to it
PlayerBase receiver = null;
power = ParameterManager.Instance.MaxPassingForce * dot;
//test if there are any potential candidates available to receive a pass
if (player.IsThreatened() &&
player.Team.FindPass(player,
out receiver,
out BallTarget,
power,
ParameterManager.Instance.MinPassDist))
{
//add some noise to the kick
BallTarget = SoccerBall.AddNoiseToKick(player.Ball.Position, BallTarget);
Vector2D KickDirection = BallTarget - player.Ball.Position;
player.Ball.Kick(KickDirection, power);
System.Diagnostics.Debug.WriteLine(string.Format("Player {0} passes the ball with force {1} to player {2} Target is ({3},{4})", player.ObjectId, power, receiver.ObjectId, BallTarget.X, BallTarget.Y));
//let the receiver know a pass is coming
MessageDispatcher.Instance.DispatchMsg(
new TimeSpan(0),
player.ObjectId,
receiver.ObjectId,
(int)SoccerGameMessages.ReceiveBall,
BallTarget);
//the player should wait at his current position unless instruced
//otherwise
player.StateMachine.ChangeState(WaitState.Instance);
player.FindSupport();
return;
}
//cannot shoot or pass, so dribble the ball upfield
else
{
player.FindSupport();
player.StateMachine.ChangeState(DribbleState.Instance);
}
}
public SteeringBehaviors(PlayerBase player, SoccerBall ball)
{
_player = player;
_ball = ball;
_separationMultiple = ParameterManager.Instance.SeparationCoefficient;
_viewDistance = ParameterManager.Instance.ViewDistance;
_tagged = false;
_interposeDist = 0.0;
_behaviorFlags = (int)BehaviorFlags.None;
_dribbleFeelers = new List<Vector2D>(5);
for (int i = 0; i < _dribbleFeelers.Count; i++)
{
_dribbleFeelers[i] = new Vector2D();
}
}
/// <summary>
/// Given an opponent and an object position this method returns a
/// force that attempts to position the agent between them
/// </summary>
/// <param name="ball"></param>
/// <param name="target"></param>
/// <param name="distFromTarget"></param>
/// <returns></returns>
protected Vector2D calculateInterposeVector(SoccerBall ball,
Vector2D target,
double distFromTarget)
{
return calculateArriveVector(target + Vector2D.Vec2DNormalize(ball.Position - target) * distFromTarget, DecelerationState.Normal);
}
/// <summary>
/// This behavior creates a force that steers the agent towards the
// ball
/// </summary>
/// <param name="ball"></param>
/// <returns></returns>
protected Vector2D calculatePursuitVector(SoccerBall ball)
{
Vector2D toBall = ball.Position - _player.Position;
//the lookahead time is proportional to the distance between the ball
//and the pursuer;
double lookAheadTime = 0.0;
if (Math.Abs(ball.Speed) > Geometry.MinPrecision)
{
lookAheadTime = toBall.Length / ball.Speed;
}
//calculate where the ball will be at this time in the future
_target = ball.CalculateFuturePosition(lookAheadTime);
//now seek to the predicted future position of the ball
return calculateArriveVector(_target, DecelerationState.Fast);
}
public SoccerPitch(double width, double height)
{
//int GOAL_WIDTH = 2;
//double ballSize = .5;
//double ballMass = 1.0;
_walls = new List <Wall2D>();
_clientWidth = (int)width;
_clientHeight = (int)height;
_paused = false;
_goalKeeperHasBall = false;
_gameInPlay = true;
//define the playing area
_playingArea = new Region(20, _clientHeight - 20, 20, _clientWidth - 20);
//create the regions
createRegions(_playingArea.Width / (double)NumRegionsHorizontal,
_playingArea.Height / (double)NumRegionsVertical);
//create the goals
_redGoal = new SoccerGoal(new Vector2D(_playingArea.Left, (_clientHeight - ParameterManager.Instance.GoalWidth) / 2),
new Vector2D(_playingArea.Left, _clientHeight - (_clientHeight - ParameterManager.Instance.GoalWidth) / 2),
new Vector2D(1.0, 0.0));
_blueGoal = new SoccerGoal(new Vector2D(_playingArea.Right, (_clientHeight - ParameterManager.Instance.GoalWidth) / 2),
new Vector2D(_playingArea.Right, _clientHeight - (_clientHeight - ParameterManager.Instance.GoalWidth) / 2),
new Vector2D(-1, 0));
//create the soccer ball
_ball = new SoccerBall(new Vector2D(_clientWidth / 2.0, _clientHeight / 2.0),
ParameterManager.Instance.BallSize,
ParameterManager.Instance.BallMass,
_walls);
//create the teams
_redTeam = new SoccerTeam(_redGoal, _blueGoal, this, SoccerTeam.SoccerTeamColor.Red);
_blueTeam = new SoccerTeam(_blueGoal, _redGoal, this, SoccerTeam.SoccerTeamColor.Blue);
//make sure each team knows who their opponents are
_redTeam.OpposingTeam = _blueTeam;
_blueTeam.OpposingTeam = _redTeam;
//create the walls
Vector2D TopLeft = new Vector2D(_playingArea.Left, _playingArea.Top);
Vector2D TopRight = new Vector2D(_playingArea.Right, _playingArea.Top);
Vector2D BottomRight = new Vector2D(_playingArea.Right, _playingArea.Bottom);
Vector2D BottomLeft = new Vector2D(_playingArea.Left, _playingArea.Bottom);
_walls.Add(new Wall2D(BottomLeft, _redGoal.RightPost));
_walls.Add(new Wall2D(_redGoal.LeftPost, TopLeft));
_walls.Add(new Wall2D(TopLeft, TopRight));
_walls.Add(new Wall2D(TopRight, _blueGoal.LeftPost));
_walls.Add(new Wall2D(_blueGoal.RightPost, BottomRight));
_walls.Add(new Wall2D(BottomRight, BottomLeft));
}
/// <summary>
/// Given an opponent and an object position this method returns a
/// force that attempts to position the agent between them
/// </summary>
/// <param name="ball"></param>
/// <param name="target"></param>
/// <param name="distFromTarget"></param>
/// <returns></returns>
protected Vector2D calculateInterposeVector(SoccerBall ball,
Vector2D target,
double distFromTarget)
{
return(calculateArriveVector(target + Vector2D.Vec2DNormalize(ball.Position - target) * distFromTarget, DecelerationState.Normal));
}
public SoccerPitch(double width, double height)
{
//int GOAL_WIDTH = 2;
//double ballSize = .5;
//double ballMass = 1.0;
_walls = new List<Wall2D>();
_clientWidth = (int)width;
_clientHeight = (int)height;
_paused = false;
_goalKeeperHasBall = false;
_gameInPlay = true;
//define the playing area
_playingArea = new Region(20, _clientHeight - 20, 20, _clientWidth - 20);
//create the regions
createRegions(_playingArea.Width / (double)NumRegionsHorizontal,
_playingArea.Height / (double)NumRegionsVertical);
//create the goals
_redGoal = new SoccerGoal(new Vector2D(_playingArea.Left, (_clientHeight - ParameterManager.Instance.GoalWidth) / 2),
new Vector2D(_playingArea.Left, _clientHeight - (_clientHeight - ParameterManager.Instance.GoalWidth) / 2),
new Vector2D(1.0, 0.0));
_blueGoal = new SoccerGoal(new Vector2D(_playingArea.Right, (_clientHeight - ParameterManager.Instance.GoalWidth) / 2),
new Vector2D(_playingArea.Right, _clientHeight - (_clientHeight - ParameterManager.Instance.GoalWidth) / 2),
new Vector2D(-1, 0));
//create the soccer ball
_ball = new SoccerBall(new Vector2D(_clientWidth / 2.0, _clientHeight / 2.0),
ParameterManager.Instance.BallSize,
ParameterManager.Instance.BallMass,
_walls);
//create the teams
_redTeam = new SoccerTeam(_redGoal, _blueGoal, this, SoccerTeam.SoccerTeamColor.Red);
_blueTeam = new SoccerTeam(_blueGoal, _redGoal, this, SoccerTeam.SoccerTeamColor.Blue);
//make sure each team knows who their opponents are
_redTeam.OpposingTeam = _blueTeam;
_blueTeam.OpposingTeam = _redTeam;
//create the walls
Vector2D TopLeft = new Vector2D(_playingArea.Left, _playingArea.Top);
Vector2D TopRight = new Vector2D(_playingArea.Right, _playingArea.Top);
Vector2D BottomRight = new Vector2D(_playingArea.Right, _playingArea.Bottom);
Vector2D BottomLeft = new Vector2D(_playingArea.Left, _playingArea.Bottom);
_walls.Add(new Wall2D(BottomLeft, _redGoal.RightPost));
_walls.Add(new Wall2D(_redGoal.LeftPost, TopLeft));
_walls.Add(new Wall2D(TopLeft, TopRight));
_walls.Add(new Wall2D(TopRight, _blueGoal.LeftPost));
_walls.Add(new Wall2D(_blueGoal.RightPost, BottomRight));
_walls.Add(new Wall2D(BottomRight, BottomLeft));
}
