void Start()
{
_robot_controller = GetComponent <RobotCarController>();
_robot_controller.Driver = new GoalieDriver(_robot_controller);
_robot_controller.transform.rotation = Quaternion.Euler(0f, 90f, 0f);
_robot_controller.IsGoalie = true;
Ball = GameObject.Find("Soccer Ball");
Goal = (_robot_controller.Team.Team == TeamController.TEAM.RED) ? GameObject.Find("LeftRing") : GameObject.Find("RightRing");
Config = GameObject.Find("ConfigurationHolder").GetComponent <ConfigurationHolder>();
GoalieOutputYDistance yOutput = null;
var category = new GoalieCategory(6);
float goalOffset;
switch (Config.c.NumberOfRobots)
{
case 3:
_goalie_x_distance = new SmallGoalieXDistance(1);
_goalie_y_distance = new SmallGoalieInputYDistance(2);
_ball_x_distance = new SmallGoalieXDistance(3);
_ball_y_distance = new SmallGoalieInputYDistance(4);
yOutput = new SmallGoalieOutputYDistance(5);
goalOffset = 15f;
break;
case 5:
_goalie_x_distance = new MiddleGoalieXDistance(1);
_goalie_y_distance = new MiddleGoalieInputYDistance(2);
_ball_x_distance = new MiddleGoalieXDistance(3);
_ball_y_distance = new MiddleGoalieInputYDistance(4);
yOutput = new MiddleGoalieOutputYDistance(5);
goalOffset = 20f;
break;
case 11:
_goalie_x_distance = new LargeGoalieXDistance(1);
_goalie_y_distance = new LargeGoalieInputYDistance(2);
_ball_x_distance = new LargeGoalieXDistance(3);
_ball_y_distance = new LargeGoalieInputYDistance(4);
yOutput = new LargeGoalieOutputYDistance(5);
goalOffset = 25f;
break;
default:
goalOffset = 15f;
break;
}
_strategizer = new GoalieStrategizer(_ball_x_distance, _goalie_x_distance, category);
_strategy_1 = new GoalieStrategy(1, _ball_y_distance, _goalie_y_distance, yOutput);
_strategy_2 = new GoalieStrategy(2, _ball_y_distance, _goalie_y_distance, yOutput);
_strategy_3 = new GoalieStrategy(3, _ball_y_distance, _goalie_y_distance, yOutput);
_strategy_4 = new GoalieStrategy(4, _ball_y_distance, _goalie_y_distance, yOutput);
float goalX = Goal.transform.position.z;
FixedX = goalX < 0 ? goalX + goalOffset : goalX - goalOffset;
}
public GoalieStrategizer(GoalieXDistance ballDistance, GoalieXDistance goalieDistance, GoalieCategory category)
{
_ball_distance = ballDistance;
_goalie_distance = goalieDistance;
_category = category;
_rule_base = new EvaluationTreeRuleBase(
new List <FuzzySet <IInputFuzzyMember> >()
{
_ball_distance, _goalie_distance
},
category, CreateRules());
_fls = new FuzzyLogicSystem(new Fuzzifier(), new CenterOfSumsDefuzzifier(), _rule_base);
}