def function(x, y):
'''User-defined field function.'''
pos=array([x,y])
v1=PF.attractiveField(pos,goal,False) # seems to work fine
v2=PF.randomField() # seems to work fine
v3=PF.getTotalRepulsive(pos,obstacles,bullets,otherTanks,myTanks)# returning [0,0] even though its finding the objects
v4=PF.getTotalTangential(pos,obstacles,bullets,otherTanks,myTanks)#UnboundLocalError: local variable 'distObstacle' referenced before assignment
x2=array([v1[0]+v2[0]+v3[0]+v4[0],v1[1]+v2[1]+v3[1]+v4[1]])
#x2=v1+v2+v3
x2=array([v1[0],v1[1]])
# x2 = array(v1)
# x2 = array(v2)
# x2 = array(v3)
# x2 = array(v4)
return x2
def update(self, deltaTime): if not self.hasFlag and self.client.getMyTanks()[self.tank].flag: newG =[0,0] for i in self.client.getBases()[self.team].verts: newG+=i self.goal = newG/4 self.hasFlag=1 elif not self.client.getMyTanks()[self.tank].flag: self.hasFlag=0 self.goal=self.client.getFlags()[self.enemy].position self.client.shoot(self.tank) aF=PF.attractiveField(self.getPos(),self.goal,self.hasFlag) tF=PF.getTotalTangential(self.position, self.client.getObstacles(), self.client.getShots(), self.client.getOtherTanks(), self.client.getMyTanks()) rF=PF.getTotalRepulsive(self.position, self.client.getObstacles(), self.client.getShots(), self.client.getOtherTanks(), self.client.getMyTanks()) randF=PF.randomField() a=.1 ALL_FIELDS=array([aF[0]+a*tF[0]+a*rF[0]+randF[0],aF[1]+a*tF[1]+a*rF[1]+randF[1]]) theta=self.PDController(ALL_FIELDS, deltaTime) theta= theta*float(self.client.getConstants()['tankangvel']) if theta<-1: theta=-1 elif theta>1: theta=1 print theta self.client.setAngvel(self.tank,theta) self.client.setSpeed(self.tank,1)
