def goal_scored_for(self):
if self.out_of_play():
if self.ball.x > self.field.length / 2:
ball_angle_to_goal_post_se = ray_angle(
self.ball.x_just_now, self.ball.y_just_now,
self.field.markings_xy.ix['GoalPostSE'].x,
self.field.markings_xy.ix['GoalPostSE'].y)
ball_angle_to_goal_post_ne = ray_angle(
self.ball.x_just_now, self.ball.y_just_now,
self.field.markings_xy.ix['GoalPostNE'].x,
self.field.markings_xy.ix['GoalPostNE'].y)
ball_angle_between_goal_posts_e = angular_difference(
ball_angle_to_goal_post_se, ball_angle_to_goal_post_ne)
ball_angle_between_goal_post_se_and_direction = angular_difference(
ball_angle_to_goal_post_se, self.ball.angle)
if within_range(ball_angle_between_goal_post_se_and_direction,
0., ball_angle_between_goal_posts_e):
return 'West'
elif self.ball.x < -self.field.length / 2:
ball_angle_to_goal_post_nw = ray_angle(
self.ball.x_just_now, self.ball.y_just_now,
self.field.markings_xy.ix['GoalPostNW'].x,
self.field.markings_xy.ix['GoalPostNW'].y)
ball_angle_to_goal_post_sw = ray_angle(
self.ball.x_just_now, self.ball.y_just_now,
self.field.markings_xy.ix['GoalPostSW'].x,
self.field.markings_xy.ix['GoalPostSW'].y)
ball_angle_between_goal_posts_w = angular_difference(
ball_angle_to_goal_post_nw, ball_angle_to_goal_post_sw)
ball_angle_between_goal_post_nw_and_direction = angular_difference(
ball_angle_to_goal_post_nw, self.ball.angle)
if within_range(ball_angle_between_goal_post_nw_and_direction,
0., ball_angle_between_goal_posts_w):
return 'East'
def goal_scored_for(self):
if self.out_of_play():
if self.ball.x > self.field.length / 2:
ball_angle_to_goal_post_se = ray_angle(self.ball.x_just_now, self.ball.y_just_now,
self.field.markings_xy.ix['GoalPostSE'].x,
self.field.markings_xy.ix['GoalPostSE'].y)
ball_angle_to_goal_post_ne = ray_angle(self.ball.x_just_now, self.ball.y_just_now,
self.field.markings_xy.ix['GoalPostNE'].x,
self.field.markings_xy.ix['GoalPostNE'].y)
ball_angle_between_goal_posts_e = angular_difference(ball_angle_to_goal_post_se,
ball_angle_to_goal_post_ne)
ball_angle_between_goal_post_se_and_direction = angular_difference(ball_angle_to_goal_post_se,
self.ball.angle)
if within_range(ball_angle_between_goal_post_se_and_direction, 0., ball_angle_between_goal_posts_e):
return 'West'
elif self.ball.x < - self.field.length / 2:
ball_angle_to_goal_post_nw = ray_angle(self.ball.x_just_now, self.ball.y_just_now,
self.field.markings_xy.ix['GoalPostNW'].x,
self.field.markings_xy.ix['GoalPostNW'].y)
ball_angle_to_goal_post_sw = ray_angle(self.ball.x_just_now, self.ball.y_just_now,
self.field.markings_xy.ix['GoalPostSW'].x,
self.field.markings_xy.ix['GoalPostSW'].y)
ball_angle_between_goal_posts_w = angular_difference(ball_angle_to_goal_post_nw,
ball_angle_to_goal_post_sw)
ball_angle_between_goal_post_nw_and_direction = angular_difference(ball_angle_to_goal_post_nw,
self.ball.angle)
if within_range(ball_angle_between_goal_post_nw_and_direction, 0., ball_angle_between_goal_posts_w):
return 'East'
def observe_marking_in_front(self, field, min_distance_over_distance_sigma_ratio=6.):
min_angle = pi
marking_in_front = None
for marking in field.markings:
a = abs(angular_difference(self.angle, ray_angle(self.x, self.y, marking.x, marking.y)))
d = euclidean_distance(self.x, self.y, marking.x, marking.y)
if (a < min_angle) and (d >= min_distance_over_distance_sigma_ratio * self.distance_sigma):
min_angle = a
marking_in_front = marking
self.observe((marking_in_front,))
def observe_marking_in_front(self,
field,
min_distance_over_distance_sigma_ratio=6.):
min_angle = pi
marking_in_front = None
for marking in field.markings:
a = abs(
angular_difference(
self.angle, ray_angle(self.x, self.y, marking.x,
marking.y)))
d = euclidean_distance(self.x, self.y, marking.x, marking.y)
if (a < min_angle) and (d >= min_distance_over_distance_sigma_ratio
* self.distance_sigma):
min_angle = a
marking_in_front = marking
self.observe((marking_in_front, ))
