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Remove not too useful angle calculation

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Fix a bug in reverse position returned
This commit is contained in:
Benau 2016-06-01 08:21:35 +08:00
parent f83407f661
commit c66df6082d
3 changed files with 3 additions and 16 deletions
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15
src/karts/controller/soccer_ai.cpp
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@ -212,7 +212,6 @@ Vec3 SoccerAI::determineBallAimingPosition()
} }
#endif #endif
m_chasing_ball = true;
const Vec3& ball_aim_pos = m_world->getBallAimPosition(m_opp_team); const Vec3& ball_aim_pos = m_world->getBallAimPosition(m_opp_team);
const Vec3& orig_pos = m_world->getBallPosition(); const Vec3& orig_pos = m_world->getBallPosition();
@ -261,23 +260,11 @@ Vec3 SoccerAI::determineBallAimingPosition()
} }
} }
m_chasing_ball = true;
// Check if reached aim point, which is behind aiming position and // Check if reached aim point, which is behind aiming position and
// in front of the ball, if so use another aiming method // in front of the ball, if so use another aiming method
if (aim_lc.z() < 0 && ball_lc.z() > 0) if (aim_lc.z() < 0 && ball_lc.z() > 0)
{ {
// Find the angle between the ball to kart and the aim position
// to kart, if it's not almost 180 or 0 degree, we need to
// apply brake
const float c = sqrtf(pow(ball_lc.z() - aim_lc.z(), 2) +
pow(ball_lc.x() - aim_lc.x(), 2));
const float angle = findAngleFrom3Edges(aim_lc.length_2d(),
ball_lc.length_2d(), c);
if (angle > 1 && angle < 179)
{
m_force_brake = true;
}
// Return the behind version of aim position, allow pushing to // Return the behind version of aim position, allow pushing to
// ball towards the it // ball towards the it
return m_world->getBallAimPosition(m_opp_team, true/*reverse*/); return m_world->getBallAimPosition(m_opp_team, true/*reverse*/);

2
src/karts/controller/soccer_ai.hpp
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@ -69,7 +69,7 @@ private:
virtual bool forceBraking() OVERRIDE virtual bool forceBraking() OVERRIDE
{ return m_avoiding_banana || m_force_brake; } { return m_avoiding_banana || m_force_brake; }
virtual bool ignorePathFinding() OVERRIDE virtual bool ignorePathFinding() OVERRIDE
{ return m_chasing_ball; } { return m_overtake_ball || m_chasing_ball; }
public: public:
SoccerAI(AbstractKart *kart); SoccerAI(AbstractKart *kart);
~SoccerAI(); ~SoccerAI();

2
src/modes/soccer_world.hpp
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@ -202,7 +202,7 @@ private:
// If it's likely to goal already, aim the ball straight behind // If it's likely to goal already, aim the ball straight behind
// should do the job // should do the job
if (isApproachingGoal(team)) if (isApproachingGoal(team))
return m_trans(Vec3(0, 0, -m_radius*2)); return m_trans(Vec3(0, 0, reverse ? m_radius*2 : -m_radius*2));
// Otherwise do the below: // Otherwise do the below:
// This is done by using Pythagorean Theorem and solving the // This is done by using Pythagorean Theorem and solving the