def execute_marking(self):
# main.system_state().draw_line(robocup.Line(self._area.get_pt(0), self._area.get_pt(1)), (127,0,255), "Defender")
self.block_robot = self.find_robot_to_block()
if self.block_robot is not None:
# self.robot.add_text("Blocking Robot " + str(self.block_robot.shell_id()), (255,255,255), "RobotText")
pass
if self.robot.pos.near_point(robocup.Point(0, 0), self._opponent_avoid_threshold):
self.robot.set_avoid_opponents(False)
else:
self.robot.set_avoid_opponents(True)
target = None
if self.block_robot is None:
target = main.ball().pos + main.ball().vel * 0.3
else:
target = self.block_robot.pos + self.block_robot.vel * 0.3
goal_line = robocup.Segment(
robocup.Point(-constants.Field.GoalWidth / 2.0, 0), robocup.Point(constants.Field.GoalWidth / 2.0, 0)
)
self._win_eval.excluded_robots = [self.robot]
# TODO defenders should register themselves with some static list on init
# TODO make this happen in python-land
# BOOST_FOREACH(Defender *f, otherDefenders)
# {
# if (f->robot)
# {
# _winEval.exclude.push_back(f->robot->pos);
# }
# }
windows = self._win_eval.eval_pt_to_seg(target, goal_line)[0]
best = None
goalie = main.our_robot_with_id(main.root_play().goalie_id)
if goalie is not None and self.side is not Defender.Side.center:
for window in windows:
if best is None:
best = window
elif (
self.side is Defender.Side.left
and window.segment.center.x < goalie.pos.x
and window.segment.length > best.segment.length
):
best = window
elif (
self.side is Defender.Side.right
and window.segment.center.x > goalie.pos.x
and window.segment.length > best.segment.length
):
best = window
else:
best_dist = 0
for window in windows:
seg = robocup.Segment(window.segment.center(), main.ball().pos)
new_dist = seg.dist_to(self.robot.pos)
if best is None or new_dist < best_dist:
best = window
best_dist = new_dist
shoot_seg = None
if best is not None:
if self.block_robot is not None:
dirvec = robocup.Point.direction(self.block_robot.angle * (math.pi / 180.0))
shoot_seg = robocup.Segment(self.block_robot.pos, self.block_robot.pos + dirvec * 7.0)
else:
shoot_seg = robocup.Segment(main.ball().pos, main.ball().pos + main.ball().vel.normalized() * 7.0)
need_task = False
if best is not None:
winseg = best.segment
if main.ball().vel.magsq() > 0.03 and winseg.segment_intersection(shoot_seg) != None:
self.robot.move_to(shoot_seg.nearest_point(self.robot.pos))
self.robot.face_none()
else:
winsize = winseg.length()
if winsize < constants.Ball.Radius:
need_task = True
else:
arc = robocup.Circle(robocup.Point(0, 0), self._defend_goal_radius)
shot = robocup.Line(winseg.center(), target)
dest = [robocup.Point(0, 0), robocup.Point(0, 0)]
intersected, dest[0], dest[1] = shot.intersects_circle(arc)
if intersected:
self.robot.move_to(dest[0] if dest[0].y > 0 else dest[1])
if self.block_robot is not None:
self.robot.face(self.block_robot.pos)
else:
self.robot.face(main.ball().pos)
else:
need_task = True
if need_task:
self.robot.face(main.ball().pos)
backVec = robocup.Point(1, 0)
backPos = robocup.Point(-constants.Field.Width / 2, 0)
shotVec = robocup.Point(main.ball().pos - self.robot.pos)
backVecRot = robocup.Point(backVec.perp_ccw())
facing_back_line = backVecRot.dot(shotVec) < 0
if not facing_back_line and self.robot.has_ball():
if self.robot.has_chipper():
self.robot.chip(255)
else:
self.robot.kick(255)
def execute_marking(self):
#main.system_state().draw_line(robocup.Line(self._area.get_pt(0), self._area.get_pt(1)), (127,0,255), "Defender")
self.block_robot = self.find_robot_to_block()
if self.block_robot is not None:
# self.robot.add_text("Blocking Robot " + str(self.block_robot.shell_id()), (255,255,255), "RobotText")
pass
if self.robot.pos.near_point(robocup.Point(0, 0),
self._opponent_avoid_threshold):
self.robot.set_avoid_opponents(False)
else:
self.robot.set_avoid_opponents(True)
target = None
if self.block_robot is None:
target = main.ball().pos + main.ball().vel * 0.3
else:
target = self.block_robot.pos + self.block_robot.vel * 0.3
goal_line = robocup.Segment(
robocup.Point(-constants.Field.GoalWidth / 2.0, 0),
robocup.Point(constants.Field.GoalWidth / 2.0, 0))
self._win_eval.excluded_robots = [self.robot]
# TODO defenders should register themselves with some static list on init
# TODO make this happen in python-land
# for (Defender *f : otherDefenders)
# {
# if (f->robot)
# {
# _winEval.exclude.push_back(f->robot->pos);
# }
# }
windows = self._win_eval.eval_pt_to_seg(target, goal_line)[0]
best = None
goalie = main.our_robot_with_id(main.root_play().goalie_id)
if goalie is not None and self.side is not Defender.Side.center:
for window in windows:
if best is None:
best = window
elif self.side is Defender.Side.left and window.segment.center.x < goalie.pos.x and window.segment.length > best.segment.length:
best = window
elif self.side is Defender.Side.right and window.segment.center.x > goalie.pos.x and window.segment.length > best.segment.length:
best = window
else:
best_dist = 0
for window in windows:
seg = robocup.Segment(window.segment.center(), main.ball().pos)
new_dist = seg.dist_to(self.robot.pos)
if best is None or new_dist < best_dist:
best = window
best_dist = new_dist
shoot_seg = None
if best is not None:
if self.block_robot is not None:
dirvec = robocup.Point.direction(self.block_robot.angle *
(math.pi / 180.0))
shoot_seg = robocup.Segment(
self.block_robot.pos, self.block_robot.pos + dirvec * 7.0)
else:
shoot_seg = robocup.Segment(
main.ball().pos,
main.ball().pos + main.ball().vel.normalized() * 7.0)
need_task = False
if best is not None:
winseg = best.segment
if main.ball().vel.magsq() > 0.03 and winseg.segment_intersection(
shoot_seg) != None:
self.robot.move_to(shoot_seg.nearest_point(self.robot.pos))
self.robot.face_none()
else:
winsize = winseg.length()
if winsize < constants.Ball.Radius:
need_task = True
else:
arc = robocup.Circle(robocup.Point(0, 0),
self._defend_goal_radius)
shot = robocup.Line(winseg.center(), target)
dest = [robocup.Point(0, 0), robocup.Point(0, 0)]
intersected, dest[0], dest[1] = shot.intersects_circle(arc)
if intersected:
self.robot.move_to(
dest[0] if dest[0].y > 0 else dest[1])
if self.block_robot is not None:
self.robot.face(self.block_robot.pos)
else:
self.robot.face(main.ball().pos)
else:
need_task = True
if need_task:
self.robot.face(main.ball().pos)
backVec = robocup.Point(1, 0)
backPos = robocup.Point(-constants.Field.Width / 2, 0)
shotVec = robocup.Point(main.ball().pos - self.robot.pos)
backVecRot = robocup.Point(backVec.perp_ccw())
facing_back_line = (backVecRot.dot(shotVec) < 0)
if not facing_back_line and self.robot.has_ball():
if self.robot.has_chipper():
self.robot.chip(255)
else:
self.robot.kick(255)
def execute_area_marking(self):
if self.robot.pos.near_point(robocup.Point(0, 0), self._opponent_avoid_threshold):
self.robot.set_avoid_opponents(False)
else:
self.robot.set_avoid_opponents(True)
goal_target = robocup.Point(0, -constants.Field.GoalDepth / 2.0)
goal_line = robocup.Segment(
robocup.Point(-constants.Field.GoalWidth / 2.0, 0), robocup.Point(constants.Field.GoalWidth / 2.0, 0)
)
if self.side is Defender.Side.left:
goal_line.get_pt(1).x = 0
goal_line.get_pt(1).y = 0
if self.side is Defender.Side.right:
goal_line.get_pt(0).x = 0
goal_line.get_pt(0).y = 0
for robot in main.system_state().their_robots:
self._win_eval.excluded_robots.append(robot)
if main.root_play().goalie_id is not None:
self._win_eval.excluded_robots.append(main.our_robot_with_id(main.root_play().goalie_id))
# TODO (cpp line 186)
# windows = self._win_eval.
windows = []
best = None
angle = 0.0
for window in windows:
if best is None:
best = window
angle = window.a0 - window.a1
elif window.a0 - window.a1 > angle:
best = window
angle = window.a0 - window.a1
shootline = robocup.Segment(robocup.Point(0, 0), robocup.Point(0, 0))
if best is not None:
angle = (best.a0 + best.a1) / 2.0
shootline = robocup.Segment(self._win_eval.origin(), robocup.Point.direction(angle * (math.pi / 180.0)))
main.system_state().draw_line(shootline, (255, 0, 0), "Defender")
need_task = False
if best is not None:
winseg = best.segment
arc = robocup.Circle(robocup.Point(0, 0), self._defend_goal_radius)
shot = robocup.Line(shootline.get_pt(0), shootline.get_pt(1))
dest = [robocup.Point(0, 0), robocup.Point(0, 0)]
intersected, dest[0], dest[1] = shot.intersects_circle(arc)
if intersected:
self.robot.move_to(dest[0] if dest[0].y > 0 else dest[1])
else:
need_task = True
if need_task:
self.robot.face(main.ball().pos)
if main.ball().pos.y < constants.Field.Length / 2.0:
self.robot.set_dribble_speed(255)
backVec = robocup.Point(1, 0)
backPos = robocup.Point(-constants.Field.Width / 2, 0)
shotVec = robocup.Point(main.ball().pos - self.robot.pos)
backVecRot = robocup.Point(backVec.perp_ccw())
facing_back_line = backVecRot.dot(shotVec) < 0
if not facing_back_line and self.robot.has_ball():
if self.robot.has_chipper():
self.robot.chip(255)
else:
self.robot.kick(255)
def execute_area_marking(self):
if self.robot.pos.near_point(robocup.Point(0, 0),
self._opponent_avoid_threshold):
self.robot.set_avoid_opponents(False)
else:
self.robot.set_avoid_opponents(True)
goal_target = robocup.Point(0, -constants.Field.GoalDepth / 2.0)
goal_line = robocup.Segment(
robocup.Point(-constants.Field.GoalWidth / 2.0, 0),
robocup.Point(constants.Field.GoalWidth / 2.0, 0))
if self.side is Defender.Side.left:
goal_line.get_pt(1).x = 0
goal_line.get_pt(1).y = 0
if self.side is Defender.Side.right:
goal_line.get_pt(0).x = 0
goal_line.get_pt(0).y = 0
for robot in main.system_state().their_robots:
self._win_eval.excluded_robots.append(robot)
if main.root_play().goalie_id is not None:
self._win_eval.excluded_robots.append(
main.our_robot_with_id(main.root_play().goalie_id))
# TODO (cpp line 186)
# windows = self._win_eval.
windows = []
best = None
angle = 0.0
for window in windows:
if best is None:
best = window
angle = window.a0 - window.a1
elif window.a0 - window.a1 > angle:
best = window
angle = window.a0 - window.a1
shootline = robocup.Segment(robocup.Point(0, 0), robocup.Point(0, 0))
if best is not None:
angle = (best.a0 + best.a1) / 2.0
shootline = robocup.Segment(
self._win_eval.origin(),
robocup.Point.direction(
angle * (math.pi / 180.0))) # FIXME :no origin.
main.system_state().draw_line(shootline, (255, 0, 0), "Defender")
need_task = False
if best is not None:
winseg = best.segment
arc = robocup.Circle(robocup.Point(0, 0), self._defend_goal_radius)
shot = robocup.Line(shootline.get_pt(0), shootline.get_pt(1))
dest = [robocup.Point(0, 0), robocup.Point(0, 0)]
intersected, dest[0], dest[1] = shot.intersects_circle(arc)
if intersected:
self.robot.move_to(dest[0] if dest[0].y > 0 else dest[1])
else:
need_task = True
if need_task:
self.robot.face(main.ball().pos)
if main.ball().pos.y < constants.Field.Length / 2.0:
self.robot.set_dribble_speed(255)
backVec = robocup.Point(1, 0)
backPos = robocup.Point(-constants.Field.Width / 2, 0)
shotVec = robocup.Point(main.ball().pos - self.robot.pos)
backVecRot = robocup.Point(backVec.perp_ccw())
facing_back_line = (backVecRot.dot(shotVec) < 0)
if not facing_back_line and self.robot.has_ball():
if self.robot.has_chipper():
self.robot.chip(255)
else:
self.robot.kick(255)