def getShootingPos(self,dist):
''' Returns where to position from ball location.
Puts the robot in line with ball and goal center.'''
destX,destY,destH = 0,0,0
m = ((OPP_GOALBOX_TOP_Y-self.brain.ball.y)/(NogginConstants.MIDFIELD_X-self.brain.ball.x))
destX = self.brain.ball.x - math.sqrt(dist**2/(1+m**2))
destY = m*(destX-self.brain.ball.x)+self.brain.ball.y
if m == 0:
destH = 0
else:
destH = MyMath.getRelativeHeading(destX,destY,
self.brain.ball.x,
self.brain.ball.y)
return destX,destY,destH
