The actual soccer AI. More...

#include <soccer_ai.hpp>

Inheritance diagram for SoccerAI:

[legend]

Public Member Functions
	SoccerAI (AbstractKart *kart)

virtual void	update (int ticks) OVERRIDE
	Update m_front_transform for ball aiming functions, also make AI stop after goal.

virtual void	reset () OVERRIDE
	Resets the AI when a race is restarted.

Public Member Functions inherited from ArenaAI
	ArenaAI (AbstractKart *kart)

virtual void	update (int ticks) OVERRIDE
	This is the main entry point for the AI.

virtual void	reset () OVERRIDE
	Resets the AI when a race is restarted.

virtual void	newLap (int lap) OVERRIDE
	Callback whenever a new lap is triggered.

Public Member Functions inherited from AIBaseController
	AIBaseController (AbstractKart *kart)

virtual void	reset () OVERRIDE

virtual bool	disableSlipstreamBonus () const OVERRIDE
	Certain AI levels will not receive a slipstream bonus in order to be not as hard.

virtual void	crashed (const Material *m) OVERRIDE
	This is called when the kart crashed with the terrain.

virtual void	crashed (const AbstractKart *k) OVERRIDE

virtual void	handleZipper (bool play_sound) OVERRIDE

virtual void	finishedRace (float time) OVERRIDE
	Called whan this controller's kart finishes the last lap.

virtual void	collectedItem (const ItemState &item, float previous_energy=0) OVERRIDE

virtual void	setPosition (int p) OVERRIDE

virtual bool	isPlayerController () const OVERRIDE
	This function checks if this player is not an AI, i.e.

virtual bool	isLocalPlayerController () const OVERRIDE
	This function checks if this is a local player.

virtual bool	action (PlayerAction action, int value, bool dry_run=false) OVERRIDE
	Default: ignore actions.

virtual void	skidBonusTriggered () OVERRIDE

virtual bool	saveState (BareNetworkString *buffer) const OVERRIDE

virtual void	rewindTo (BareNetworkString *buffer) OVERRIDE

void	setNetworkAI (bool val)

virtual void	update (int ticks) OVERRIDE

Public Member Functions inherited from Controller
	Controller (AbstractKart *kart)
	Constructor, saves the kart pointer and a pointer to the KartControl of the kart.

virtual void	reset ()=0

virtual void	update (int ticks)=0

virtual void	handleZipper (bool play_sound)=0

virtual void	collectedItem (const ItemState &item, float previous_energy=0)=0

virtual void	crashed (const AbstractKart *k)=0

virtual void	crashed (const Material *m)=0

virtual void	setPosition (int p)=0

virtual bool	isLocalPlayerController () const =0
	This function checks if this is a local player.

virtual bool	isPlayerController () const =0
	This function checks if this player is not an AI, i.e.

virtual bool	disableSlipstreamBonus () const =0

virtual bool	saveState (BareNetworkString *buffer) const =0

virtual void	rewindTo (BareNetworkString *buffer)=0

virtual void	rumble (float strength_low, float strength_high, uint16_t duration)

virtual void	setControllerName (const std::string &name)
	Sets the controller name for this controller.

const std::string &	getControllerName () const
	Returns the name of this controller.

virtual bool	action (PlayerAction action, int value, bool dry_run=false)=0
	Default: ignore actions.

virtual void	newLap (int lap)=0
	Callback whenever a new lap is triggered.

virtual void	skidBonusTriggered ()=0

virtual void	finishedRace (float time)=0
	Called whan this controller's kart finishes the last lap.

virtual KartControl *	getControls ()
	Get a pointer on the kart controls.

void	setControls (KartControl *kc)

virtual bool	canGetAchievements () const
	Only local players can get achievements.

virtual core::stringw	getName (bool include_handicap_string=true) const
	Display name of the controller.

AbstractKart *	getKart () const
	Returns the kart controlled by this controller.

Private Member Functions
Vec3	determineBallAimingPosition ()
	Determine the point for aiming when try to steer or overtake the ball.

bool	determineOvertakePosition (const Vec3 &ball_lc, const Vec3 &aim_lc, Vec3 *overtake_lc)
	Used in determineBallAimingPosition to pick a correct point to overtake the ball.

bool	isOvertakable (const Vec3 &ball_lc)
	Used in determineBallAimingPosition to test if AI can overtake the ball by testing distance.

float	rotateSlope (float old_slope, bool rotate_up)
	Used in determineOvertakePosition to adjust the overtake position which is calculated by slope of line if it's too close.

virtual bool	canSkid (float steer_fraction) OVERRIDE
	Return true if AI can skid now.

virtual void	findClosestKart (bool consider_difficulty, bool find_sta) OVERRIDE
	Find the closest kart around this AI, it won't find the kart with same team, consider_difficulty and find_sta are not used here.

virtual void	findTarget () OVERRIDE
	Find a suitable target to follow, it will first call SoccerWorld::getBallChaser to check if this AI should go chasing the ball and try to score, otherwise it will call tryCollectItem if needed.

virtual bool	forceBraking () OVERRIDE
	If true, AI will always try to brake for this frame.

virtual int	getCurrentNode () const OVERRIDE
	Return the current ArenaNode the AI located on.

virtual float	getKartDistance (const AbstractKart *kart) const OVERRIDE
	Return the distance based on graph distance matrix to any kart.

virtual bool	ignorePathFinding () OVERRIDE
	If true, AI will drive directly to target without path finding.

virtual bool	isKartOnRoad () const OVERRIDE
	If true, AI stays on the ArenaNode correctly, otherwise RescueAnimation will be done after sometime.

virtual bool	isWaiting () const OVERRIDE
	If true, AI will stop moving.

virtual void	resetAfterStop () OVERRIDE
	Overridden if any action is needed to be done when AI stopped moving or changed driving direction.

Private Attributes
SoccerWorld *	m_world
	Keep a pointer to world.

KartTeam	m_cur_team
	Save the team this AI belongs to.

KartTeam	m_opp_team
	Save the opposite team of this AI team.

bool	m_overtake_ball
	Define which way to handle to ball, either steer with it, or overtake it (Defense).

bool	m_force_brake
	True if forceBraking() is needed to be called.

bool	m_chasing_ball
	True if AI should steer with the ball.

btTransform	m_front_transform
	The front point of kart with the same rotation of center mass, used to determine point for aiming with ball.

Additional Inherited Members
Static Public Member Functions inherited from AIBaseController
static void	enableDebug ()

static void	setTestAI (int n)

static int	getTestAI ()

Protected Member Functions inherited from ArenaAI
void	tryCollectItem (Vec3 aim_point, int target_node) const
	Try to collect item in arena, if no suitable item is found, like they are swapped, it will follow closest kart instead.

virtual void	findClosestKart (bool consider_difficulty, bool find_sta)=0
	Find the closest kart around this AI, implemented by sub-class.

Protected Member Functions inherited from AIBaseController
void	setControllerName (const std::string &name) OVERRIDE
	In debug mode when the user specified –ai-debug on the command line set the name of the controller as on-screen text, so that the different AI controllers can be distinguished.

float	steerToPoint (const Vec3 &point)
	Computes the steering angle to reach a certain point.

float	normalizeAngle (float angle)
	Normalises an angle to be between -pi and _ pi.

bool	isStuck () const
	This can be called to detect if the kart is stuck (i.e.

void	determineTurnRadius (const Vec3 &end, Vec3 center, float radius) const
	Determine the center point and radius of a circle given two points on the circle and the tangent at the first point.

virtual void	setSteering (float angle, float dt)
	Converts the steering angle to a lr steering in the range of -1 to 1.

virtual bool	canSkid (float steer_fraction)=0
	Return true if AI can skid now.

Protected Attributes inherited from ArenaAI
ItemManager *	m_item_manager

ArenaGraph *	m_graph
	Pointer to the ArenaGraph.

AbstractKart *	m_closest_kart
	Pointer to the closest kart around this kart.

int	m_closest_kart_node
	The ArenaNode at which the closest kart located on.

Vec3	m_closest_kart_point
	The closest kart location.

RaceManager::Difficulty	m_cur_difficulty
	Holds the current difficulty.

irr::scene::ISceneNode *	m_debug_sphere
	For debugging purpose: a sphere indicating where the AI is targeting at.

irr::scene::ISceneNode *	m_debug_sphere_next
	For debugging purpose: a sphere indicating where the first turning corner is located.

int	m_target_node
	The ArenaNode at which the target point located on.

Vec3	m_target_point
	The coordinates of target point.

bool	m_mini_skid
	True if AI can skid, currently only do when close to target, see doSkiddingTest().

Protected Attributes inherited from AIBaseController
bool	m_enabled_network_ai

float	m_kart_length
	Length of the kart, storing it here saves many function calls.

float	m_kart_width
	Cache width of kart.

Track *	m_track
	Keep a pointer to the track to reduce calls.

const AIProperties *	m_ai_properties
	A pointer to the AI properties for this kart.

Protected Attributes inherited from Controller
AbstractKart *	m_kart
	Pointer to the kart that is controlled by this controller.

KartControl *	m_controls
	A pointer to the main controller, from which the kart takes it commands.

std::string	m_controller_name
	The name of the controller, mainly used for debugging purposes.

Static Protected Attributes inherited from AIBaseController
static bool	m_ai_debug = false

static int	m_test_ai = 0
	Stores the '–test-ai=n' command line parameter: It indicates which fraction of the AIs are going to be the test AI: 1 means only to use the TestAI, 2 means every second AI will be test etc.

Detailed Description

The actual soccer AI.

Member Function Documentation

◆ canSkid()

virtual bool SoccerAI::canSkid ( float steer_fraction )

inlineprivatevirtual

Return true if AI can skid now.

Reimplemented from ArenaAI.

◆ determineBallAimingPosition()

Vec3 SoccerAI::determineBallAimingPosition ( )

private

Determine the point for aiming when try to steer or overtake the ball.

AI will overtake the ball if the aiming position calculated by world is non-reachable.

Returns: The coordinates to aim at.

◆ determineOvertakePosition()

bool SoccerAI::determineOvertakePosition	(	const Vec3 &	ball_lc,
		const Vec3 &	aim_lc,
		Vec3 *	overtake_lc
	)

private

Used in determineBallAimingPosition to pick a correct point to overtake the ball.

Parameters

	ball_lc	Local coordinates of the ball.
	aim_lc	Local coordinates of the aiming position.
[out]	overtake_lc	Local coordinates of the overtaking position.

Returns: True if overtaking is possible.

◆ findClosestKart()

void SoccerAI::findClosestKart	(	bool	consider_difficulty,
		bool	find_sta
	)

privatevirtual

Find the closest kart around this AI, it won't find the kart with same team, consider_difficulty and find_sta are not used here.

Parameters

consider_difficulty	If take current difficulty into account.
find_sta	If find SpareTireAI only.

Implements ArenaAI.

◆ findTarget()

void SoccerAI::findTarget ( )

privatevirtual

Find a suitable target to follow, it will first call SoccerWorld::getBallChaser to check if this AI should go chasing the ball and try to score, otherwise it will call tryCollectItem if needed.

After that it will call SoccerWorld::getAttacker to see if this AI should attack the kart in opposite team which is chasing the ball, if not go for the closest kart found by findClosestKart.

Implements ArenaAI.

◆ forceBraking()

virtual bool SoccerAI::forceBraking ( )

inlineprivatevirtual

If true, AI will always try to brake for this frame.

Reimplemented from ArenaAI.

◆ getCurrentNode()

int SoccerAI::getCurrentNode ( ) const

privatevirtual

Return the current ArenaNode the AI located on.

Implements ArenaAI.

◆ getKartDistance()

float SoccerAI::getKartDistance ( const AbstractKart * kart ) const

privatevirtual

Return the distance based on graph distance matrix to any kart.

Parameters

kart	AbstractKart to check.

Implements ArenaAI.

◆ ignorePathFinding()

virtual bool SoccerAI::ignorePathFinding ( )

inlineprivatevirtual

If true, AI will drive directly to target without path finding.

Reimplemented from ArenaAI.

◆ isKartOnRoad()

bool SoccerAI::isKartOnRoad ( ) const

privatevirtual

If true, AI stays on the ArenaNode correctly, otherwise RescueAnimation will be done after sometime.

Implements ArenaAI.

◆ isOvertakable()

bool SoccerAI::isOvertakable ( const Vec3 & ball_lc )

private

Used in determineBallAimingPosition to test if AI can overtake the ball by testing distance.

Parameters

ball_lc Local coordinates of the ball.

Returns: False if the kart is too close to the ball which can't overtake

◆ isWaiting()

bool SoccerAI::isWaiting ( ) const

privatevirtual

If true, AI will stop moving.

Implements ArenaAI.

◆ reset()

void SoccerAI::reset ( )

virtual

Resets the AI when a race is restarted.

Reimplemented from ArenaAI.

◆ resetAfterStop()

virtual void SoccerAI::resetAfterStop ( )

inlineprivatevirtual

Overridden if any action is needed to be done when AI stopped moving or changed driving direction.

Reimplemented from ArenaAI.

◆ rotateSlope()

float SoccerAI::rotateSlope	(	float	old_slope,
		bool	rotate_up
	)

private

Used in determineOvertakePosition to adjust the overtake position which is calculated by slope of line if it's too close.

Parameters

old_slope	Old slope calculated.
rotate_up	If adjust the slope upwards.

Returns: A newly calculated slope.

◆ update()

void SoccerAI::update ( int ticks )

virtual

Update m_front_transform for ball aiming functions, also make AI stop after goal.

Parameters

dt	Time step size.

Reimplemented from ArenaAI.

The documentation for this class was generated from the following files:

karts/controller/soccer_ai.hpp
karts/controller/soccer_ai.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ canSkid()

◆ determineBallAimingPosition()

◆ determineOvertakePosition()

◆ findClosestKart()

◆ findTarget()

◆ forceBraking()

◆ getCurrentNode()

◆ getKartDistance()

◆ ignorePathFinding()

◆ isKartOnRoad()

◆ isOvertakable()

◆ isWaiting()

◆ reset()

◆ resetAfterStop()

◆ rotateSlope()

◆ update()