def calc_receive_ball_moving(self):
#make sure that you're only doing this if
for i in range(len(self.keeperArray)):
if self.keeperArray[i].inPosession == True:
rDecision = (i, self.keeperArray[i].true_pos)
return
for i in range(len(self.takerArray)):
if self.takerArray[i].inPosession == True:
return
TA = kUtil.addVectorToPoint(self.fieldBall.trueBallPos, self.fieldBall.trueBallDirection)
TB = self.fieldBall.trueBallPos
minTime = 99999.0
argmin = None
bestPerpIntersect = None
for i in range(len(self.keeperArray)):
TC = self.keeperArray[i].true_pos
if (kUtil.cosTheta(TA, TB, TC)) < 0:
#print("Keeper " , i, " can't get to ball: the cosTheta is negetive.")
#it's impossible for this keeper to get the ball
continue
else:
pd = kUtil.getPerpDist(TA, TB, TC)
pt = pd/self.maxPlayerSpeed
normalVector = kUtil.getNormalVector(TA, TB, TC)
perpIntersect = kUtil.addVectorToPoint(TC, normalVector)
bd = kUtil.getDist(TB, perpIntersect)
bt = bd/self.maxBallSpeed
if pt > bt:
#keeper wont' be able be able to get to ball in time
#print("player ", i+1, "can't reach ball as pt:",pt," and bt: ",bt)
continue
else:
#keeper CAN get to ball. can it get there soonest though?
#save the fastest keeper
if (pt < minTime):
minTime = pt
argmin = i
bestPerpIntersect = perpIntersect
#at this point, if a keeper can get to the ball, the fastest and it's intercept are saved
if (argmin != None):
rDecision = [argmin, self.calcOptimal(self.keeperArray, argmin, bestPerpIntersect)]
for i in range(len(self.keeperArray)):
self.keeperArray[i].receiveDecision(rDecision)
for i in range(len(self.takerArray)):
self.takerArray[i].receiveDecision(rDecision)
else:
print("no argmin found. game about to crash for sure")
def __calc_receive_ball_moving(worldRef, inputDirection, possessingKeeperIndex):
"""
This function is a private function meant to assist calc_receive. This function
will go and calculate the receive decision for the special case where the
ball is moving. The receive decision is a tuple that simply contains the
index of the keeper that should run towards the ball, and the coordinate
that the keeper should run to.
If the ball is moving, then calc_receieve will find an intersection point
along the balls projected path that the selected keeper can run to.
The intercept point is selected such that the
selected keeper will run a short distance, be far away from the takers,
and also be far away from out of bounds.
.. note::
This is a private function that the user shouldn't worry about calling.
Only the calc_receieve function of this method will use this function.
And only the simulator class should call the calc_receive function.
:param worldRef: a reference to the simulator class which is calling this function
:param inputDirection: the current direction the ball is moving.
:param possessingKeeperIndex: the index of the keeper who currently has possession
:type worldRef: keepAway
:type inputDirection: tuple of floats
:type possessingKeeperIndex: integer
:returns: tuple, where first element is the index of the keeper picked to run towards
the ball. The simulator will use this index to look up the index of the keeper
in its self.keeperArray. The 2nd element is the intersection coordinate
:rtype: tuple where first element is integer, second element is tuple. 2nd element
tuple contains integers
"""
#TA is a point that the ball is heading to in the next time step
TA = kUtil.addVectorToPoint(worldRef.fieldBall.trueBallPos, inputDirection)
#TB is the current ball position, and for angle calculations, it will be the vertex
TB = worldRef.fieldBall.trueBallPos
minTime = float("inf")
argmin = None
bestPerpIntersect = None
#the purpose of this for loop is to find which keeper should go to the ball.
for i in range(len(worldRef.keeperArray)):
#TC is the position of the keeper who's figuring out if he should goToBall(), or getOpen()
TC = worldRef.keeperTruePosArray[i]
if (kUtil.cosTheta(TA, TB, TC)) < 0:
#print "Keeper " , i, " can't get to ball: the cosTheta is negetive."
#it's impossible for this keeper to get the ball
continue
else:
pd = kUtil.getPerpDist(TA, TB, TC)
pt = pd/worldRef.maxPlayerSpeed
normalVector = kUtil.getNormalVector(TA, TB, TC)
perpIntersect = kUtil.addVectorToPoint(TC, normalVector)
bd = kUtil.getDist(TB, perpIntersect)
bt = bd/worldRef.maxBallSpeed
if pt > bt:
#keeper wont' be able be able to get to ball in time
#print "player ", i+1, "can't reach ball as pt:",pt," and bt: ",bt
continue
else:
#keeper CAN get to ball. can it get there soonest though?
#save the fastest keeper
if (pt < minTime and i != possessingKeeperIndex):
minTime = pt
argmin = i
bestPerpIntersect = perpIntersect
#at this point, if a keeper can get to the ball,
#the fastest and it's intercept are saved
if (argmin != None):
rDecision = [argmin, __calcOptimal(worldRef, worldRef.keeperArray, argmin, bestPerpIntersect)]
return rDecision
else:
rDecision = [1 , worldRef.get_field_center()]
#print("no argmin found. game about to end for sure.")
return rDecision
