def __init__(self,x,y):
self.x=x
self.y=y
self.potentiel=pt.Potentiel(-3,[self.x,self.y],x_grid,y_grid,2500)
self.position=complex(x,y)
self.x10=[x]
self.y10=[y]
def champ_perso(self,x_depart,x_arrivee,a,b):
self.Potentiel()
Ex1,Ey1=pt.Gradient(self.potentiel)
Ex1,Ey1=pt.Grad(Ex1,Ey1,self.x,self.y,x_depart,x_arrivee,a,b)
potentiel_repulsion=pt.Potentiel(+10,[self.x,self.y],p.x_grid,p.y_grid,p.r_evit/1.5)
Ex10,Ey10=pt.Gradient(potentiel_repulsion)
self.Ex,self.Ey=p.k*Ex10+Ex1,p.k*Ey10+Ey1
def Position(self,ball):
self.x,self.y=ball[6],ball[7]
self.position=complex(self.x,self.y)
self.potentiel=pt.Potentiel(-3,[self.x,self.y],x_grid,y_grid,2500) #potentiel négatif pour attirer les robots
if len(self.x10)>9:
self.x10.pop(0)
self.y10.pop(0)
self.x10.append(self.x) #on enregistre les 10 dernieres positions de la balle
self.y10.append(self.y)
def champ_perso(self, x_depart, x_arrivee, a,
b): #permet de calculer le champ produit par ce robot
self.Potentiel()
Ex1, Ey1 = pt.Gradient(self.potentiel)
Ex1, Ey1 = pt.Grad(Ex1, Ey1, self.x, self.y, x_depart, x_arrivee, a, b)
potentiel_repulsion = pt.Potentiel(+10, [self.x, self.y], x_grid,
y_grid, r_evit / 1.5)
Ex10, Ey10 = pt.Gradient(potentiel_repulsion)
self.Ex, self.Ey = k * Ex10 + Ex1, k * Ey10 + Ey1
def Position(self, ball):
self.x, self.y = ball[6], ball[7]
self.position = complex(self.x, self.y)
self.potentiel = pt.Potentiel(-3, [self.x, self.y], x_grid, y_grid,
2500)
if len(self.x10) > 9:
self.x10.pop(0)
self.y10.pop(0)
self.x10.append(self.x)
self.y10.append(self.y)
def Potentiel(self):
self.potentiel = pt.Potentiel(10, [self.x, self.y], x_grid, y_grid,
r_evit)
def Potentiel(self):
self.potentiel=pt.Potentiel(10,[self.x,self.y],p.x_grid,p.y_grid,p.r_evit)
def Potentiel(self): #calcul le potentiel créé par ce robot
self.potentiel = pt.Potentiel(10, [self.x, self.y], x_grid, y_grid,
r_evit)
hy=2*largeur/nbPoints
balls, blueBots, yellowBots = getVision()
ball=balls[0]
xball,yball=ball[6],ball[7]
def norme(Vx,Vy):
return(Vx/sqrt(Vx**2+Vy**2),Vy/sqrt(Vx**2+Vy**2))
def Rotationnel(x,y,Fx,Fy):
dFx = (diff(Fx,axis=0)/hy)[:,:-1]
dFy = (diff(Fy,axis=1)/hx)[:-1,:]
return dFy - dFx
potentielBalle=pt.Potentiel(-3,[xball,yball],x,y,2500)
for bot in blueBots:
if bot[5]==0:
botInfo=bot
xbot,ybot,obot=botInfo[6],botInfo[7],botInfo[8]
a,b=np.polyfit([xball,xbot],[yball,ybot],1)
def grad(Ex,Ey,x,y):
if (xball-xbot)<0:
Ex,Ey=-Ex,-Ey
if (a*x+b)>y:
Ex,Ey=Ey,-Ex
else :
Ex,Ey=-Ey,Ex
