def __init__(self, world, robot):
if world.robot_in_possession:
self.angle = utils.get_avoiding_angle_to_point(world, robot, world.robot_in_possession.vector)
if not self.angle:
self.angle = utils.attacker_get_rotation_to_point(robot.vector, world.robot_in_possession.vector)
else:
error("Attempting to block while no robot in possession")
self.angle = 0
super(TurnToBlockingAngle, self).__init__(world, robot)
def get_goal(self, world, robot):
'''
Selects a goal for robot
'''
''' if robot.has_ball(world.ball):
return attacker.Score(world, robot)
else:
return attacker.GetBall(world, robot)'''
if self.current_task == 'move-grab':
return attacker.GetBall(world, robot)
elif self.current_task == 'turn-move-grab':
return attacker.GetBall(world, robot)
elif self.current_task == 'turn-shoot':
if robot.has_ball(world.ball):
return attacker.Score(world, robot)
else:
info("Trying to turn-shoot without ball. Using GetBall instead.")
return attacker.GetBall(world, robot)
elif self.current_task == 'receive-pass':
if world.our_defender.has_ball(world.ball):
return attacker.AttackPosition(world, robot)
else:
return attacker.GetBall(world, robot)
elif self.current_task == 'receive-turn-pass':
if world.their_robots[0].has_ball(world.ball) or world.their_robots[1].has_ball(world.ball):
return attacker.AttackPosition(world, robot)
elif robot.has_ball(world.ball):
return attacker.AttackerPass(world, robot)
else:
return attacker.GetBall(world, robot)
elif self.current_task == 'intercept':
return attacker.AttackerBlock(world, robot)
elif self.current_task == 'score-zone':
return attacker.AttackPosition(world, robot)
elif world.game_state == 'normal-play':
if world.our_attacker.has_ball(world.ball):
info("Attacker has ball so trying to score")
return attacker.Score(world, robot)
elif world.our_defender.has_ball(world.ball):
info("Defender has ball so going to attack position")
return attacker.AttackPosition(world, robot)
elif any([r.has_ball(world.ball) for r in world.their_attackers]):
info("Opponent in our half has ball so going to score position")
return attacker.AttackPosition(world, robot)
elif any([r.has_ball(world.ball) for r in world.their_defenders])\
and world.is_possible_vector_position(world.our_attacker, world.our_attacker.get_blocking_position(world)):
info("Opponent in their half has ball so blocking")
return attacker.AttackerBlock(world, robot)
elif world.is_possible_position(world.our_attacker, world.ball.x, world.ball.y):
info("Ball is in possible position so getting ball")
return attacker.GetBall(world, robot)
else:
info("All else failed so going to attack position")
return attacker.AttackPosition(world, robot)
elif self.current_task == 'test-obstacle':
print(math.degrees(utils.get_avoiding_angle_to_point(world,
world.our_attacker.vector,
world.ball.vector)))
from position import Vector
print(utils.find_obstacle(world, robot.vector, world.ball.vector))
return attacker.GetBall(world, robot)
def __init__(self, world, robot):
position = robot.get_blocking_position(world)
self.angle = utils.get_avoiding_angle_to_point(world, robot.vector, position)
if not self.angle:
self.angle = utils.attacker_get_rotation_to_point(robot.vector, position)
super(TurnToFaceBlockingPosition, self).__init__(world, robot)
def __init__(self, world, robot):
self.angle = utils.get_avoiding_angle_to_point(world, robot.vector, world.our_defender.vector)
if not self.angle:
self.angle = utils.attacker_get_rotation_to_point(robot.vector, world.our_defender.vector)
super(TurnToDefenderToReceive, self).__init__(world, robot)
def __init__(self, world, robot):
position = world.get_new_score_zone()
self.angle = utils.get_avoiding_angle_to_point(world, robot.vector, position)
if not self.angle:
self.angle = utils.attacker_get_rotation_to_point(robot.vector, position)
super(TurnToScoreZone, self).__init__(world, robot)
def __init__(self, world, robot):
self.angle = utils.get_avoiding_angle_to_point(world, robot.vector, world.ball.vector)
#self.angle = utils.attacker_get_rotation_to_point(robot.vector, world.ball.vector)
if not self.angle:
self.angle = utils.attacker_get_rotation_to_point(robot.vector, world.ball.vector)
super(TurnToBall, self).__init__(world, robot)
def is_robot_facing_position(world, r, pos):
angle = utils.get_avoiding_angle_to_point(world, r.vector, pos)
if not angle:
return utils.attacker_get_rotation_to_point(r.vector, pos)
return abs(angle) < ROTATION_THRESHOLD
