def _generate_cover_to_coveree_mapping(self):
# We want to assign a coveree(enemy) to every cover(ally)
# We also want to know for each cover(ally), the other covers that share the same target(enemy)
closest_enemies_to_ball = closest_players_to_point(self.game_state.ball_position, our_team=False)
if len(closest_enemies_to_ball) > 0:
closest_enemy_to_ball = closest_enemies_to_ball[0].player
closest_enemies_to_our_goal = closest_players_to_point(self.game_state.field.our_goal, our_team=False)
enemy_not_with_ball = [enemy.player for enemy in closest_enemies_to_our_goal if enemy.player is not closest_enemy_to_ball]
else:
enemy_not_with_ball = []
# If we don't have enough player we cover the ball
if len(enemy_not_with_ball) == 0:
cover_to_coveree = dict(zip(self.robots_in_cover_formation, cycle([self.game_state.ball])))
cover_to_formation = {cover: self.robots_in_cover_formation for cover in self.robots_in_cover_formation}
# If we don't have enough enemy to cover, we group the player in formation
elif len(self.robots_in_cover_formation) > len(enemy_not_with_ball):
cover_to_coveree = dict(zip(self.robots_in_cover_formation, cycle(enemy_not_with_ball)))
cover_to_formation = {}
for cover, coveree in cover_to_coveree.items():
formation = [teamate for teamate, teamate_coveree in cover_to_coveree.items() if teamate_coveree == coveree]
cover_to_formation[cover] = formation
else:
cover_to_coveree = dict(zip(self.robots_in_cover_formation, enemy_not_with_ball))
cover_to_formation = {cover: [cover] for cover in self.robots_in_cover_formation}
return cover_to_coveree, cover_to_formation
def filter(self, observation=None, dt=0.05):
last_ball_pose = self.game_state.field.ball.position
if not dt:
dt = self.default_dt
self.transition_model(dt)
if observation is not None:
self.update(observation)
else:
players_my_team = closest_players_to_point(last_ball_pose)
players_their_team = closest_players_to_point(
last_ball_pose, False)
if players_my_team[0].player_distance < players_their_team[
0].player_distance:
closest_player = players_my_team[0].player
closest_player_distance_to_ball = players_my_team[
0].player_distance
else:
closest_player = players_their_team[0].player
closest_player_distance_to_ball = players_their_team[
0].player_distance
if closest_player_distance_to_ball < 150:
#self.x[2] = closest_player.velocity.position[0]
#self.x[3] = closest_player.velocity.position[1]
player_to_ball = (last_ball_pose - closest_player.position
).normalized() * (BALL_RADIUS + ROBOT_RADIUS)
self.x[0] = closest_player.position[0] + player_to_ball.x
self.x[1] = closest_player.position[1] + player_to_ball.y
self.x[2] = 0
self.x[3] = 0
self.predict()
output_state = self.x
#print("pos", self.x[0], self.x[1])
#print("speed", self.x[2], self.x[3])
return output_state
def _no_enemy_around_ball(self):
closest = closest_players_to_point(self.game_state.ball_position,
our_team=False)
if len(closest) == 0:
return True
DANGEROUS_ENEMY_MIN_DISTANCE = 500
return closest[0].distance > DANGEROUS_ENEMY_MIN_DISTANCE
def is_closest_not_goalkeeper(self, player):
closest_players = closest_players_to_point(
self.game_state.ball_position, our_team=True)
if player == closest_players[0].player:
return True
return closest_players[0].player == self.game_state.get_player_by_role(Role.GOALKEEPER) \
and player == closest_players[1].player
def _generate_cover_to_coveree_mapping(self):
# We want to assign a coveree(enemy) to every cover(ally)
# We also want to know for each cover(ally), the other covers that share the same target(enemy)
closest_enemies_to_ball = closest_players_to_point(
self.game_state.ball_position, our_team=False)
if len(closest_enemies_to_ball) > 0:
closest_enemy_to_ball = closest_enemies_to_ball[0].player
closest_enemies_to_our_goal = closest_players_to_point(
self.game_state.field.our_goal, our_team=False)
enemy_not_with_ball = [
enemy.player for enemy in closest_enemies_to_our_goal
if enemy.player is not closest_enemy_to_ball
]
else:
enemy_not_with_ball = []
# If we don't have enough player we cover the ball
if len(enemy_not_with_ball) == 0:
cover_to_coveree = dict(
zip(self.robots_in_cover_formation,
cycle([self.game_state.ball])))
cover_to_formation = {
cover: self.robots_in_cover_formation
for cover in self.robots_in_cover_formation
}
# If we don't have enough enemy to cover, we group the player in formation
elif len(self.robots_in_cover_formation) > len(enemy_not_with_ball):
cover_to_coveree = dict(
zip(self.robots_in_cover_formation,
cycle(enemy_not_with_ball)))
cover_to_formation = {}
for cover, coveree in cover_to_coveree.items():
formation = [
teamate
for teamate, teamate_coveree in cover_to_coveree.items()
if teamate_coveree == coveree
]
cover_to_formation[cover] = formation
else:
cover_to_coveree = dict(
zip(self.robots_in_cover_formation, enemy_not_with_ball))
cover_to_formation = {
cover: [cover]
for cover in self.robots_in_cover_formation
}
return cover_to_coveree, cover_to_formation
def is_closest_not_goalkeeper(self, player):
if self.game_state.ball.is_mobile():
self.has_ball_move = True
role = GameState().get_role_by_player_id(player.id)
if not self.has_ball_move:
return role == self.closest_role
closest_players = closest_players_to_point(GameState().ball_position, our_team=True)
if player == closest_players[0].player:
return True
return closest_players[0].player == self.game_state.get_player_by_role(Role.GOALKEEPER) \
and player == closest_players[1].player
def is_closest_not_goalkeeper(self, player):
if self.game_state.ball.is_mobile():
self.has_ball_move = True
role = GameState().get_role_by_player_id(player.id)
if not self.has_ball_move:
return role == self.closest_role
closest_players = closest_players_to_point(GameState().ball_position,
our_team=True)
if player == closest_players[0].player:
return True
return closest_players[0].player == self.game_state.get_player_by_role(Role.GOALKEEPER) \
and player == closest_players[1].player
def is_second_closest(self, player):
if player == closest_players_to_point(GameState().get_ball_position(),
True)[1].player:
return True
return False
def is_closest_not_goalkeeper(self, player):
closest_players = closest_players_to_point(self.game_state.ball_position, our_team=True)
if player == closest_players[0].player:
return True
return closest_players[0].player == self.game_state.get_player_by_role(Role.GOALKEEPER) \
and player == closest_players[1].player
def _no_enemy_around_ball(self):
closest = closest_players_to_point(self.game_state.ball_position, our_team=False)
if len(closest) == 0:
return True
DANGEROUS_ENEMY_MIN_DISTANCE = 500
return closest[0].distance > DANGEROUS_ENEMY_MIN_DISTANCE
def is_closest(robots, player):
if player == closest_players_to_point(GameState().get_ball_position(),
True, robots)[0].player:
return True
return False
