// Update is called once per frame
void FixedUpdate()
{
if (ArbiterFls == null)
{
ArbiterFls = new ArbiterFLS();
}
if (ArbiterRobot != null)
{
hits = Physics.OverlapSphere(ArbiterRobot.transform.position, RobotBallRadius, 1 << 10);
if (hits.Length == 1)
{
Collider bestTeamMate = null;
var shoot = GetShootStatus();
var pass = GetPassStatus(out bestTeamMate);
var ballX = (ArbiterRobot.Team.Team == TeamController.TEAM.RED) ? (-Ball.transform.position.z) : Ball.transform.position.z;
var ballY = Ball.transform.position.x;
var priority = ArbiterFls.GetPriority(shoot, pass, ballX, ballY);
if (priority > 68)
{
Action = ACTION.SHOOT;
var ArbiterBallOrientation = Angle.ComputeRelativeAngle(ArbiterRobot.transform.eulerAngles.y, ArbiterRobot.transform.position.x, ArbiterRobot.transform.position.y, Ball.transform.position.x, Ball.transform.position.y);
var ArbiterGoalOrientation = Angle.ComputeRelativeAngle(ArbiterRobot.transform.eulerAngles.y, ArbiterRobot.transform.position.x, ArbiterRobot.transform.position.y, ArbiterRobot.Team.OpponentGoal.transform.position.x, ArbiterRobot.Team.OpponentGoal.transform.position.y);
//Ball is front of robot
if (Math.Abs(ArbiterBallOrientation) <= 22)
{
if (Math.Abs(ArbiterGoalOrientation) <= 20)
{
ArbiterRobot.Shove = true;
}
else
{
ArbiterRobot.Spin = (ArbiterGoalOrientation < 0) ? -1 : 1;
}
}
else
{
ArbiterRobot.Spin = (ArbiterGoalOrientation < 0) ? -1 : 1;
}
}
else if (priority > 34)
{
Action = ACTION.PASS;
var ArbiterBallOrientation = Angle.ComputeRelativeAngle(ArbiterRobot.transform.eulerAngles.y, ArbiterRobot.transform.position.x, ArbiterRobot.transform.position.y, Ball.transform.position.x, Ball.transform.position.y);
//Ball is front of robot
if (Math.Abs(ArbiterBallOrientation) <= 10)
{
if (bestTeamMate != null)
{
var ArbiterTeamMateOrientation = Angle.ComputeRelativeAngle(ArbiterRobot.transform.eulerAngles.y, ArbiterRobot.transform.position.x, ArbiterRobot.transform.position.y, bestTeamMate.gameObject.transform.position.x, bestTeamMate.gameObject.transform.position.y);
if (Math.Abs(ArbiterTeamMateOrientation) <= 20)
{
ArbiterRobot.Shove = true;
}
else
{
ArbiterRobot.Spin = (ArbiterTeamMateOrientation < 0) ? -1 : 1;
}
}
}
else
{
if (bestTeamMate != null)
{
var ArbiterTeamMateOrientation = Angle.ComputeRelativeAngle(ArbiterRobot.transform.eulerAngles.y, ArbiterRobot.transform.position.x, ArbiterRobot.transform.position.y, bestTeamMate.gameObject.transform.position.x, bestTeamMate.gameObject.transform.position.y);
ArbiterRobot.Spin = (ArbiterTeamMateOrientation < 0) ? -1 : 1;
}
}
}
else
{
Action = ACTION.DRIBBLE;
ArbiterRobot.DestX = ArbiterRobot.Team.OpponentGoal.transform.position.x;
ArbiterRobot.DestY = ArbiterRobot.Team.OpponentGoal.transform.position.z;
}
}
else
{
//Move towards ball
ArbiterRobot.DestX = Ball.transform.position.x;
ArbiterRobot.DestY = Ball.transform.position.z;
}
}
}
// Use this for initialization
void Start()
{
this.ArbiterFls = new ArbiterFLS();
}
