-------------------------------------------------------------------*/ ! */
| 56 | |
| 57 | */ |
| 58 | bool |
| 59 | Bhv_BasicMove::execute( PlayerAgent * agent ) |
| 60 | { |
| 61 | dlog.addText( Logger::TEAM, |
| 62 | __FILE__": Bhv_BasicMove" ); |
| 63 | |
| 64 | //----------------------------------------------- |
| 65 | // tackle |
| 66 | if ( Bhv_BasicTackle( 0.8, 80.0 ).execute( agent ) ) |
| 67 | { |
| 68 | return true; |
| 69 | } |
| 70 | |
| 71 | const WorldModel & wm = agent->world(); |
| 72 | /*--------------------------------------------------------*/ |
| 73 | // chase ball |
| 74 | const int self_min = wm.interceptTable()->selfReachCycle(); |
| 75 | const int mate_min = wm.interceptTable()->teammateReachCycle(); |
| 76 | const int opp_min = wm.interceptTable()->opponentReachCycle(); |
| 77 | |
| 78 | if ( ! wm.existKickableTeammate() |
| 79 | && ( self_min <= 3 |
| 80 | || ( self_min <= mate_min |
| 81 | && self_min < opp_min + 3 ) |
| 82 | ) |
| 83 | ) |
| 84 | { |
| 85 | dlog.addText( Logger::TEAM, |
| 86 | __FILE__": intercept" ); |
| 87 | Body_Intercept().execute( agent ); |
| 88 | agent->setNeckAction( new Neck_OffensiveInterceptNeck() ); |
| 89 | |
| 90 | return true; |
| 91 | } |
| 92 | |
| 93 | const Vector2D target_point = Strategy::i().getPosition( wm.self().unum() ); |
| 94 | const double dash_power = Strategy::get_normal_dash_power( wm ); |
| 95 | |
| 96 | double dist_thr = wm.ball().distFromSelf() * 0.1; |
| 97 | if ( dist_thr < 1.0 ) dist_thr = 1.0; |
| 98 | |
| 99 | dlog.addText( Logger::TEAM, |
| 100 | __FILE__": Bhv_BasicMove target=(%.1f %.1f) dist_thr=%.2f", |
| 101 | target_point.x, target_point.y, |
| 102 | dist_thr ); |
| 103 | |
| 104 | agent->debugClient().addMessage( "BasicMove%.0f", dash_power ); |
| 105 | agent->debugClient().setTarget( target_point ); |
| 106 | agent->debugClient().addCircle( target_point, dist_thr ); |
| 107 | |
| 108 | if ( ! Body_GoToPoint( target_point, dist_thr, dash_power |
| 109 | ).execute( agent ) ) |
| 110 | { |
| 111 | Body_TurnToBall().execute( agent ); |
| 112 | } |
| 113 | |
| 114 | if ( wm.existKickableOpponent() |
| 115 | && wm.ball().distFromSelf() < 18.0 ) |
nothing calls this directly
no test coverage detected