/// <summary>
/// 满足右攻假设，获取双方在*蓝方*视角下的SideInfo
/// 首先根据当前信息构造SideInfo，然后如果需要的是黄方数据，为了满足右攻假设，进行视角的转换
/// </summary>
/// <param name="side"></param>
/// <returns></returns>
public SideInfo GetSide(Side side)
{
SideInfo si = new SideInfo
{
currentBall = Ball,
};
Robot[] home = null, opp = null;
if (side == Side.Blue)
{
(home, opp) = (BlueRobots, YellowRobots);
}
else if (side == Side.Yellow)
{
(home, opp) = (YellowRobots, BlueRobots);
}
si.home = (Robot[])home.Clone();
si.opp = (from rb in opp
select new OpponentRobot {
pos = rb.pos, rotation = rb.rotation
}).ToArray();
if (side == Side.Yellow)
{
si.ConvertToAnotherSide();
}
si.TickMatch = TickMatch;
return(si);
}
public SideInfo GetBlueSide()
{
SideInfo rv = new SideInfo {
currentBall = CurrentBall,
whosBall = WhosBall,
gameState = GameState
};
for (int i = 0; i < 5; i++)
{
rv.home[i] = BlueRobot[i];
rv.opp[i] = new OpponentRobot {
pos = YellowRobot[i].pos,
rotation = YellowRobot[i].rotation
};
}
return(rv);
}
public SideInfo GetYellowSide()
{
SideInfo rv = new SideInfo {
currentBall = CurrentBall,
whosBall = WhosBall,
gameState = GameState
};
for (int i = 0; i < 5; i++)
{
rv.home[i] = YellowRobot[i];
rv.opp[i] = new OpponentRobot {
pos = BlueRobot[i].pos,
rotation = BlueRobot[i].rotation
};
}
// 转换坐标
if (GeneralConfig.EnableConvertYellowData)
{
rv.ConvertToOtherSide();
}
return(rv);
}