def intercept(self):
# Find the point where the ball will go
if not self._ball_going_toward_goal(
) and not self.game_state.field.is_ball_in_our_goal_area():
self.next_state = self.defense
elif self.game_state.field.is_ball_in_our_goal_area(
) and self.game_state.ball.is_immobile():
self.next_state = self.clear
ball = self.game_state.ball
where_ball_enter_goal = intersection_between_lines(
self.GOAL_LINE.p1, self.GOAL_LINE.p2, ball.position,
ball.position + ball.velocity)
# This is where the ball is going to enter the goal
where_ball_enter_goal = closest_point_on_segment(
where_ball_enter_goal, self.GOAL_LINE.p1, self.GOAL_LINE.p2)
enter_goal_to_ball = Line(where_ball_enter_goal, ball.position)
# The goalkeeper can not enter goal since there a line blocking vision
end_segment = enter_goal_to_ball.direction * ROBOT_RADIUS + where_ball_enter_goal
intersect_pts = closest_point_on_segment(self.player.position,
ball.position, end_segment)
self.last_intersection = intersect_pts
return MoveTo(
Pose(intersect_pts, self.player.pose.orientation
), # It's a bit faster, to keep our orientation
cruise_speed=3,
end_speed=0,
ball_collision=False)
def intercept(self):
# Find the point where the ball will go
if not self._ball_going_toward_goal() and not self.game_state.field.is_ball_in_our_goal_area():
self.next_state = self.defense
elif self.game_state.field.is_ball_in_our_goal_area() and self.game_state.ball.is_immobile():
self.next_state = self.clear
ball = self.game_state.ball
where_ball_enter_goal = intersection_between_lines(self.GOAL_LINE.p1,
self.GOAL_LINE.p2,
ball.position,
ball.position + ball.velocity)
# This is where the ball is going to enter the goal
where_ball_enter_goal = closest_point_on_segment(where_ball_enter_goal, self.GOAL_LINE.p1, self.GOAL_LINE.p2)
enter_goal_to_ball = Line(where_ball_enter_goal, ball.position)
# The goalkeeper can not enter goal since there a line blocking vision
end_segment = enter_goal_to_ball.direction * ROBOT_RADIUS + where_ball_enter_goal
intersect_pts = closest_point_on_segment(self.player.position,
ball.position, end_segment)
self.last_intersection = intersect_pts
return MoveTo(Pose(intersect_pts, self.player.pose.orientation), # It's a bit faster, to keep our orientation
cruise_speed=3,
end_speed=0,
ball_collision=False)
def ProtectGoal(game_state: GameState, player: Player, is_right_goal: bool=True,
minimum_distance: float=150 / 2, maximum_distance: float=None):
"""
Calcul la pose que doit prendre le gardien en fonction de la position de la balle.
:return: Un tuple (Pose, kick) où Pose est la destination du gardien et kick est nul (on ne botte pas)
"""
goalkeeper_position = player.pose.position
ball_position = game_state.ball_position
goal_x = game_state.field.our_goal_x
goal_position = Position(goal_x, 0)
# Calcul des deux positions extremums entre la balle et le centre du but
inner_circle_position = stay_inside_circle(ball_position, goal_position, minimum_distance)
outer_circle_position = stay_inside_circle(ball_position, goal_position, maximum_distance)
destination_position = closest_point_on_segment(goalkeeper_position,
inner_circle_position,
outer_circle_position)
# Vérification que destination_position respecte la distance maximale
if maximum_distance is None:
destination_position = game_state.game.field.stay_inside_goal_area(destination_position,
our_goal=True)
else:
destination_position = stay_inside_circle(destination_position, goal_position, maximum_distance)
# Calcul de l'orientation de la pose de destination
destination_orientation = (ball_position - destination_position).angle
destination_pose = Pose(destination_position, destination_orientation)
return MoveTo(destination_pose)
def GoBetween(position1: Position, position2: Position, target: Position, minimum_distance: float=0):
delta = minimum_distance * normalize(position2 - position1)
position1 = position1 + delta
position2 = position2 - delta
destination = closest_point_on_segment(target, position1, position2)
dest_to_target = target - destination
return CmdBuilder().addMoveTo(Pose(destination, dest_to_target.angle)).build()
def GoBetween(position1: Position,
position2: Position,
target: Position,
minimum_distance: float = 0):
delta = minimum_distance * normalize(position2 - position1)
position1 = position1 + delta
position2 = position2 - delta
destination = closest_point_on_segment(target, position1, position2)
dest_to_target = target - destination
return CmdBuilder().addMoveTo(Pose(destination,
dest_to_target.angle)).build()
def _best_target_into_goal(self):
if 0 < len(self.game_state.enemy_team.available_players):
enemy_player_with_ball = player_with_ball(min_dist_from_ball=200, our_team=False)
if enemy_player_with_ball is not None:
if player_pointing_toward_segment(enemy_player_with_ball, self.GOAL_LINE):
ball = self.game_state.ball
where_ball_enter_goal = intersection_between_lines(self.GOAL_LINE.p1,
self.GOAL_LINE.p2,
ball.position,
ball.position +
Position(1000 * np.cos(enemy_player_with_ball.pose.orientation),
1000 * np.sin(enemy_player_with_ball.pose.orientation)))
where_ball_enter_goal = closest_point_on_segment(where_ball_enter_goal,
self.GOAL_LINE.p1,
self.GOAL_LINE.p2)
return where_ball_enter_goal
return find_bisector_of_triangle(self.game_state.ball.position,
self.GOAL_LINE.p2,
self.GOAL_LINE.p1)
def _best_target_into_goal(self):
if 0 < len(self.game_state.enemy_team.available_players):
enemy_player_with_ball = player_with_ball(min_dist_from_ball=200,
our_team=False)
if enemy_player_with_ball is not None:
if player_pointing_toward_segment(enemy_player_with_ball,
self.GOAL_LINE):
ball = self.game_state.ball
where_ball_enter_goal = intersection_between_lines(
self.GOAL_LINE.p1, self.GOAL_LINE.p2, ball.position,
ball.position + Position(
1000 *
np.cos(enemy_player_with_ball.pose.orientation),
1000 *
np.sin(enemy_player_with_ball.pose.orientation)))
where_ball_enter_goal = closest_point_on_segment(
where_ball_enter_goal, self.GOAL_LINE.p1,
self.GOAL_LINE.p2)
return where_ball_enter_goal
return find_bisector_of_triangle(self.game_state.ball.position,
self.GOAL_LINE.p2, self.GOAL_LINE.p1)
def ProtectGoal(game_state: GameState,
player: Player,
is_right_goal: bool = True,
minimum_distance: float = 150 / 2,
maximum_distance: float = None):
"""
Calcul la pose que doit prendre le gardien en fonction de la position de la balle.
:return: Un tuple (Pose, kick) où Pose est la destination du gardien et kick est nul (on ne botte pas)
"""
goalkeeper_position = player.pose.position
ball_position = game_state.ball_position
goal_x = game_state.field.our_goal_x
goal_position = Position(goal_x, 0)
# Calcul des deux positions extremums entre la balle et le centre du but
inner_circle_position = stay_inside_circle(ball_position, goal_position,
minimum_distance)
outer_circle_position = stay_inside_circle(ball_position, goal_position,
maximum_distance)
destination_position = closest_point_on_segment(goalkeeper_position,
inner_circle_position,
outer_circle_position)
# Vérification que destination_position respecte la distance maximale
if maximum_distance is None:
destination_position = game_state.game.field.stay_inside_goal_area(
destination_position, our_goal=True)
else:
destination_position = stay_inside_circle(destination_position,
goal_position,
maximum_distance)
# Calcul de l'orientation de la pose de destination
destination_orientation = (ball_position - destination_position).angle
destination_pose = Pose(destination_position, destination_orientation)
return MoveTo(destination_pose)
def test_closest_point_on_segment():
reference = Position(50, 50)
start = Position(10, 0)
end = Position(100, 0)
assert closest_point_on_segment(reference, start=start,
end=end) == Position(50, 0)
def test_closest_point_on_segment_outside_diagonal2_reverse():
reference = Position(9, 10)
end = Position(10, 10)
start = Position(100, 100)
assert closest_point_on_segment(reference, start=start,
end=end) == Position(10, 10)
def test_closest_point_on_segment_outside_negative():
reference = Position(-10, 0)
start = Position(10, 0)
end = Position(100, 0)
assert closest_point_on_segment(reference, start=start,
end=end) == Position(10, 0)
def test_closest_point_on_segment_outside_positive():
reference = Position(110, 0)
start = Position(10, 0)
end = Position(100, 0)
assert closest_point_on_segment(reference, start=start, end=end) == Position(100, 0)
def test_closest_point_on_segment_under():
reference = Position(0, 100)
start = Position(10, 10)
end = Position(100, 100)
assert closest_point_on_segment(reference, start=start, end=end) == Position(50, 50)
def test_closest_point_on_segment_outside_diagonal2_reverse():
reference = Position(9, 10)
end = Position(10, 10)
start = Position(100, 100)
assert closest_point_on_segment(reference, start=start, end=end) == Position(10, 10)