def takeStep(self, myTeam=[], enemyTeam=[], balls=[], obstacles=[]):
actions = []
deltaPos = np.array([1, 0, 0])
avoidMovement = getObstacleAvoidance(obstacles)
avoidEnemyMovement = getTeamNearestAvoidance(enemyTeam)
fenceAvoidMovement = getRestrictionField(obstacles[1], 200)
movement = 1.5*avoidMovement + 2.0 * avoidEnemyMovement + 1.5*fenceAvoidMovement
deltaRot = getYPRFromVector(movement)
return deltaPos, deltaRot, actions
def takeStep(self, myTeam=[], enemyTeam=[], balls=[], obstacles=[], drawRadius = 20):
actions = []
repelDist = 2*myTeam[0].colRadius
alignDist = 5*myTeam[0].colRadius
myRadius = myTeam[0].colRadius
repelParam = 150
alignParam = 50
attractParam = 100
myRadius = myTeam[0].colRadius
closestEnemy = 800
repelEnemy = 100
attractDist = 10*myTeam[0].colRadius
repelTeamVector = 0
alignTeamVector = 0
attractTeamVector = 0
repelObstacleVector = 0
repelEnemyVector = 0
for agent in myTeam:
if distBetween(agent.position, 0) < repelDist or distBetween(agent.position, 0) > attractDist: # Repel Team Mate
repelTeamVector = repelTeamVector - repelParam*agent.position/(1 + pow(distBetween(agent.position, 0) - myRadius - agent.colRadius, 2))
elif distBetween(agent.position, 0) < alignDist: # Align with Team Mate
alignTeamVector = alignTeamVector + alignParam*agent.forward/(1 + pow(distBetween(agent.position, 0), 2))
elif distBetween(agent.position, 0) < attractDist: # Attract toward Team Mate
attractTeamVector = attractTeamVector + attractParam*agent.position/(1 + pow(distBetween(agent.position, 0), 2))
for obstacle in obstacles: # Repel Obstacle
if distBetween(obstacle.position, 0) < 1.5*(myRadius + obstacle.radius):
repelObstacleVector = repelObstacleVector - 10*repelParam*obstacle.position/(1 + pow(distBetween(obstacle.position, 0) - obstacle.radius, 1))
nearestEnemy = findNearestPredator(enemyTeam)
if drawRadius < 2*nearestEnemy.drawRadius:
closestEnemy = 2*closestEnemy
elif drawRadius < nearestEnemy.drawRadius:
closestEnemy = 1*closestEnemy
elif drawRadius > 1.5*nearestEnemy.drawRadius:
closestEnemy = 0*closestEnemy
else:
pass
repelEnemyVector = repelEnemyVector - closestEnemy*nearestEnemy.position/(1 + pow(distBetween(nearestEnemy.position, 0) - nearestEnemy.colRadius, 2))
for enemy in enemyTeam:
if drawRadius < 2*nearestEnemy.drawRadius:
repelEnemy = 2*repelEnemy
elif drawRadius < nearestEnemy.drawRadius:
repelEnemy = 1*repelEnemy
elif drawRadius > 1.5*nearestEnemy.drawRadius:
repelEnemy = 0*repelEnemy
else:
pass
repelEnemyVector = repelEnemyVector - repelEnemy*enemy.position/(1 + pow(distBetween(enemy.position, 0) - enemy.colRadius, 2))
movement = repelEnemyVector + repelTeamVector + alignTeamVector + attractTeamVector + repelObstacleVector +5000*getRestrictionField(obstacles[0], 1000)
deltaPos = np.array([1, 0, 0])
deltaRot = getYPRFromVector(movement)
return deltaPos, deltaRot, actions