def add_shot_obstacle(self, excluded_robots=[]):
pt = self.aim_target_point
if pt != None:
# segment centered at the target point that's @width wide and perpendicular to the shot
shot_perp = (main.ball().pos - pt).perp_ccw().normalized()
# Make the shot triangle obstacle a fixed width at the end unless
# we're aiming at a segment. In that case, just use the length of
# the segment.
width = 0.5
if isinstance(self.target, robocup.Segment):
width = self.target.length()
a = pt + shot_perp * width / 2.0
b = pt - shot_perp * width / 2.0
# build the obstacle polygon
obs = robocup.Polygon()
obs.add_vertex(main.ball().pos)
obs.add_vertex(a)
obs.add_vertex(b)
# tell the bots to not go there
for bot in main.our_robots():
if bot not in excluded_robots + [self.robot]:
bot.add_local_obstacle(obs)
def add_shot_obstacle(self, excluded_robots=[]):
pt = self.aim_target_point
if pt != None:
# segment centered at the target point that's @width wide and perpendicular to the shot
shot_perp = (main.ball().pos - pt).perp_ccw().normalized()
width = 0.2
a = pt + shot_perp * width / 2.0
b = pt - shot_perp * width / 2.0
# build the obstacle polygon
obs = robocup.Polygon()
obs.add_vertex(main.ball().pos)
obs.add_vertex(a)
obs.add_vertex(b)
# tell the bots to not go there
for bot in main.our_robots():
if bot not in excluded_robots + [self.robot]:
bot.add_local_obstacle(obs)
def check_failure(self):
# We wait about 3 frames before freezing the velocity and position of the ball
# as it can be unreliable right after kicking. See execute_receiving.
if self.stable_frame < PassReceive.StabilizationFrames:
return False
offset = 0.1
straight_line = robocup.Point(0, 1)
pass_segment = self.robot.pos - self.kicked_from
pass_distance = pass_segment.mag() + 0.5
pass_dir = pass_segment.normalized()
left_kick = robocup.Point(-offset, -offset)
right_kick = robocup.Point(offset, -offset)
# Create a channel on the left/right of the mouth of the kicker to a bit behind the receiver
left_recieve = left_kick + straight_line * pass_distance
right_recieve = right_kick + straight_line * pass_distance
# Widen the channel to allow for catching the ball.
left_recieve.rotate(left_kick, PassReceive.MarginAngle)
right_recieve.rotate(right_kick, -PassReceive.MarginAngle)
origin = robocup.Point(0, 0)
passDirRadians = pass_dir.angle()
left_kick.rotate(origin, passDirRadians - math.pi / 2)
right_kick.rotate(origin, passDirRadians - math.pi / 2)
left_recieve.rotate(origin, passDirRadians - math.pi / 2)
right_recieve.rotate(origin, passDirRadians - math.pi / 2)
# Add points that create the good_area to a polygon
good_area = robocup.Polygon()
good_area.add_vertex(self.kicked_from + left_kick)
good_area.add_vertex(self.kicked_from + right_kick)
good_area.add_vertex(self.kicked_from + right_recieve)
good_area.add_vertex(self.kicked_from + left_recieve)
main.debug_drawer().draw_raw_polygon(good_area, constants.Colors.Green,
"Good Pass Area")
return not good_area.contains_point(main.ball().pos)