Improve SoccerAi front point handling

src/karts/controller/ai_base_controller.cpp

@@ -279,35 +279,3 @@ void AIBaseController::crashed(const Material *m)
     }
 
 }   // crashed(Material)
-
-//-----------------------------------------------------------------------------
-void AIBaseController::checkPosition(const Vec3 &point, posData *pos_data,
-                                     Vec3 *lc, bool use_front_xyz) const
-{
-    // Convert to local coordinates from the point of view of current kart
-    btTransform t;
-    t.setBasis(m_kart->getTrans().getBasis());
-    t.setOrigin(use_front_xyz ? m_kart->getFrontXYZ() : m_kart->getXYZ());
-    Vec3 local_coordinates = t.inverse()(point);
-
-    // Save local coordinates for later use if needed
-    if (lc) *lc = local_coordinates;
-
-    if (pos_data == NULL) return;
-    // lhs: tell whether it's left or right hand side
-    if (local_coordinates.getX() < 0)
-        pos_data->lhs = true;
-    else
-        pos_data->lhs = false;
-
-    // behind: tell whether it's behind or not
-    if (local_coordinates.getZ() < 0)
-        pos_data->behind = true;
-    else
-        pos_data->behind = false;
-
-    pos_data->angle = atan2f(fabsf(local_coordinates.getX()),
-        fabsf(local_coordinates.getZ()));
-    pos_data->distance = local_coordinates.length();
-
-}   //  checkPosition

src/karts/controller/ai_base_controller.hpp

@@ -64,9 +64,6 @@ protected:
      *  for AI testing only. */
     static int m_test_ai;
 
-    /** Position info structure of targets. */
-    struct posData {bool behind; bool lhs; float angle; float distance;};
-
     void         setControllerName(const std::string &name);
     float        steerToPoint(const Vec3 &point);
     float        normalizeAngle(float angle);
@@ -77,9 +74,6 @@ protected:
     /** This can be called to detect if the kart is stuck (i.e. repeatedly
     *  hitting part of the track). */
     bool         isStuck() const { return m_stuck; }
-    void         checkPosition(const Vec3&, posData*,
-                               Vec3* lc = NULL,
-                               bool use_front_xyz = false) const;
 
 public:
              AIBaseController(AbstractKart *kart);

src/karts/controller/soccer_ai.cpp

@@ -97,6 +97,9 @@ void SoccerAI::reset()
     m_force_brake = false;
     m_chasing_ball = false;
 
+    m_front_transform.setOrigin(m_kart->getFrontXYZ());
+    m_front_transform.setBasis(m_kart->getTrans().getBasis());
+
 }   // reset
 
 //-----------------------------------------------------------------------------
@@ -110,6 +113,8 @@ void SoccerAI::update(float dt)
 #endif
     m_force_brake = false;
     m_chasing_ball = false;
+    m_front_transform.setOrigin(m_kart->getFrontXYZ());
+    m_front_transform.setBasis(m_kart->getTrans().getBasis());
 
     if (m_world->getPhase() == World::GOAL_PHASE)
     {
@@ -209,10 +214,8 @@ Vec3 SoccerAI::determineBallAimingPosition()
     const Vec3& ball_aim_pos = m_world->getBallAimPosition(m_opp_team);
     const Vec3& orig_pos = m_world->getBallPosition();
 
-    Vec3 ball_lc;
-    Vec3 aim_lc;
-    checkPosition(orig_pos, NULL, &ball_lc, true/*use_front_xyz*/);
-    checkPosition(ball_aim_pos, NULL, &aim_lc, true/*use_front_xyz*/);
+    Vec3 ball_lc = m_front_transform.inverse()(orig_pos);
+    Vec3 aim_lc = m_front_transform.inverse()(ball_aim_pos);
 
     // Too far from the ball,
     // use path finding from arena ai to get close
@@ -230,7 +233,7 @@ Vec3 SoccerAI::determineBallAimingPosition()
             return ball_aim_pos;
         }
         else
-            return m_kart->getTrans()(Vec3(overtake_lc));
+            return m_front_transform(overtake_lc);
     }
     else
     {

src/karts/controller/soccer_ai.hpp

@@ -21,6 +21,8 @@
 
 #include "karts/controller/arena_ai.hpp"
 
+#include "LinearMath/btTransform.h"
+
 #undef BALL_AIM_DEBUG
 #ifdef BALL_AIM_DEBUG
 #include "graphics/irr_driver.hpp"
@@ -53,6 +55,8 @@ private:
     bool m_force_brake;
     bool m_chasing_ball;
 
+    btTransform m_front_transform;
+
     Vec3 determineBallAimingPosition();
     bool isOvertakable(const Vec3& ball_lc);
     bool determineOvertakePosition(const Vec3& ball_lc, const Vec3& aim_lc,

src/karts/kart.cpp

@@ -1210,6 +1210,9 @@ void Kart::update(float dt)
     // Update the position and other data taken from the physics
     Moveable::update(dt);
 
+    Vec3 front(0, 0, getKartLength()*0.5f);
+    m_xyz_front = getTrans()(front);
+
     if(!history->replayHistory())
         m_controller->update(dt);
 
@@ -1333,9 +1336,6 @@ void Kart::update(float dt)
         m_body->getBroadphaseHandle()->m_collisionFilterGroup = 0;
     }
 
-    Vec3 front(0, 0, getKartLength()*0.5f);
-    m_xyz_front = getTrans()(front);
-
     // After the physics step was done, the position of the wheels (as stored
     // in wheelInfo) is actually outdated, since the chassis was moved
     // according to the force acting from the wheels. So the center of the