def blockPass():
"""Move to inbetween the two enemies"""
me.goal = Goals.blockPass
# work out where to move to
e0 = enemies[0].currentPoint
e1 = enemies[1].currentPoint
x = (e0.x + e1.x)/2
y = (e0.y + e1.y)/2
point_to_be = Point(x, y)
# work out the parameters for the move command
angle_to_face = point_to_be.bearing(ball.currentPoint)
angle_to_move = me.bearing(point_to_be)
distance = me.distance(point_to_be)
if not isEnemyBox(point_to_be):
controller.move(angle_to_move,angle_to_move,distance)
else:
ghost_walk(angle_to_face)
def blockPass():
"""Move to inbetween the two enemies"""
me.goal = Goals.blockPass
# work out where to move to
e0 = enemies[0].currentPoint
e1 = enemies[1].currentPoint
x = (e0.x + e1.x) / 2
y = (e0.y + e1.y) / 2
point_to_be = Point(x, y)
# work out the parameters for the move command
angle_to_face = point_to_be.bearing(ball.currentPoint)
angle_to_move = me.bearing(point_to_be)
distance = me.distance(point_to_be)
if not isEnemyBox(point_to_be):
controller.move(angle_to_move, angle_to_move, distance)
else:
ghost_walk(angle_to_face)
def ghost_walk(angle_to_face):
ghost_flag = False
for i in range(0, 10):
ghost_pt_x = random.random() * 30 * random.choice([1, -1])
ghost_pt_y = random.random() * 30 * random.choice([1, -1])
target = me.currentPoint.x + ghost_pt_y, me.currentPoint.y + ghost_pt_y
if target[0] > 0 and target[0] < PITCH_LENGTH and target[
1] > 0 and target[1] < PITCH_WIDTH and not isEnemyBox(
Point(target[0], target[1])) and lineOfSight(
me.currentPoint, Point(target[0], target[1])):
ghost_flag = True
break
if ghost_flag:
angle_to_move = me.bearing(Point(target[0], target[1]))
print "Ghost"
controller.move(angle_to_face, angle_to_move, 60, None, None)
else:
print "None"
controller.stop_robot()
def playBall():
# if we are closest to ball
heldByMe = ball.status == BallStatus.me
heldByAlly = ball.status == BallStatus.ally
heldByEnemyA = ball.status == BallStatus.enemyA
heldByEnemyB = ball.status == BallStatus.enemyB
ballFree = ball.status == BallStatus.free
# If the enemy has the ball
if heldByEnemyA or heldByEnemyB:
# if I'm closer to our goal than the ally, go defend it
if me.distance(ourGoal) < ally.distance(ourGoal):
guardGoal()
# otherwise, intercept the pass
else:
blockPass()
# if we have the ball
elif heldByMe:
# shoot if possible
if lineOfSight(me.currentPoint, opponentGoal):
shoot()
# else, try and pass to ally
elif lineOfSight(me.currentPoint, ally.currentPoint):
passBall()
else:
confuseEnemy()
# if our ally has the ball, set up a pass
elif ball.status == BallStatus.ally:
receivePass()
# if noone has the ball, go grab the ball or defend
elif me.distance(ball) < ally.distance(ball) and not isEnemyBox(
ball.currentPoint):
collectBall()
else:
guardGoal()
def ghost_walk(angle_to_face):
ghost_flag = False
for i in range(0, 10):
ghost_pt_x = random.random() * 30 * random.choice([1, -1])
ghost_pt_y = random.random() * 30 * random.choice([1, -1])
target = me.currentPoint.x + ghost_pt_y, me.currentPoint.y + ghost_pt_y
if target[0] > 0 and target[0] < PITCH_LENGTH and target[1] > 0 and target[1] < PITCH_WIDTH and not isEnemyBox(Point(target[0],target[1])) and lineOfSight(me.currentPoint, Point(target[0],target[1])):
ghost_flag = True
break;
if ghost_flag:
angle_to_move = me.bearing(Point(target[0],target[1]))
print "Ghost"
controller.move(angle_to_face, angle_to_move, 60, None, None)
else:
print "None"
controller.stop_robot()
