def takeStep(self, myTeam=[], enemyTeam=[], balls=[], obstacles=[], drawRadius=20):
actions = []
deltaPos = np.array([1, 0, 0])
nearestUnstunnedAgent = findNearestUnstunned(enemyTeam)
stunMovement = array([0, 0, 0])
if nearestUnstunnedAgent.isStunned and nearestUnstunnedAgent.isDead:
stunMovement = array([0, 0, 0])
else:
stunMovement = nearestUnstunnedAgent.position
avoidObstacleMovement = getObstacleAvoidance(obstacles)
avoidTeamMovement = getTeamAvoidance(myTeam)
if drawRadius < 1.5 * nearestUnstunnedAgent.drawRadius:
stunWeight = 0
elif drawRadius < nearestUnstunnedAgent.drawRadius:
stunWeight = 5
elif drawRadius > 2 * nearestUnstunnedAgent.drawRadius:
stunWeight = 80
else:
stunWeight = 40
movement = normalize(
stunWeight * stunMovement
+ 10 * avoidObstacleMovement
+ 10 * avoidTeamMovement
+ 10000 * getRestrictionField(obstacles[0], 1000)
)
deltaRot = getYPRFromVector(movement)
actions.append(Stun(nearestUnstunnedAgent, 100000))
return deltaPos, deltaRot, actions
def takeStep(self, myTeam=[], enemyTeam=[], balls=[], obstacles=[]):
actions = []
deltaPos = np.array([1, 0, 0])
nearestUnstunnedAgent = findNearestUnstunned(enemyTeam)
stunMovement = array([0, 0, 0])
if nearestUnstunnedAgent.isStunned:
stunMovement = array([0, 0, 0])
else:
stunMovement = nearestUnstunnedAgent.position
avoidObstacleMovement = getObstacleAvoidance(obstacles)
avoidTeamMovement = getTeamAvoidance(myTeam)
movement = normalize(1.5*stunMovement + 0.5*avoidObstacleMovement + 0.5*avoidTeamMovement)
deltaRot = getYPRFromVector(movement)
actions.append(Stun(nearestUnstunnedAgent, 5))
return deltaPos, deltaRot, actions