def orbitBeforeKick(player):
"""
State for circling the ball when we're facing our goal.
"""
brain = player.brain
my = brain.my
if player.firstFrame():
player.orbitStartH = my.h
brain.CoA.setRobotGait(brain.motion)
brain.tracker.trackBall()
shotPoint = KickingHelpers.getShotCloseAimPoint(player)
bearingToGoal = MyMath.getRelativeBearing(my.x, my.y, my.h,
shotPoint[0],
shotPoint[1] )
spinDir = -MyMath.sign(bearingToGoal)
player.brain.nav.orbitAngle(spinDir * 90)
if not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
elif brain.ball.dist > constants.STOP_ORBIT_BALL_DIST:
return player.goLater('chase')
if player.brain.nav.isStopped() and not player.firstFrame():
return player.goLater('positionForKick')
return player.stay()
def orbitBeforeKick(player):
"""
State for circling the ball when we're facing our goal.
"""
brain = player.brain
my = brain.my
if player.firstFrame():
player.orbitStartH = my.h
brain.CoA.setRobotGait(brain.motion)
brain.tracker.trackBall()
shotPoint = KickingHelpers.getShotCloseAimPoint(player)
bearingToGoal = my.getRelativeBearing(shotPoint)
spinDir = -MyMath.sign(bearingToGoal)
player.brain.nav.orbitAngle(spinDir * 90)
if not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
elif brain.ball.dist > constants.STOP_ORBIT_BALL_DIST:
return player.goLater('chase')
if player.brain.nav.isStopped() and not player.firstFrame():
return player.goLater('positionForKick')
return player.stay()
def shouldStopPenaltyKickDribbling(player):
"""
While dribbling we should stop
"""
my = player.brain.my
dribbleAimPoint = helpers.getShotCloseAimPoint(player)
goalBearing = my.getRelativeBearing(dribbleAimPoint)
return (inPenaltyKickStrikezone(player) or
player.brain.ball.relX > constants.STOP_DRIBBLE_X or
fabs(player.brain.ball.relY) > constants.STOP_DRIBBLE_Y or
fabs(goalBearing) > constants.STOP_DRIBBLE_BEARING or
player.counter > constants.STOP_PENALTY_DRIBBLE_COUNT)
def shouldStopPenaltyKickDribbling(player):
"""
While dribbling we should stop
"""
my = player.brain.my
dribbleAimPoint = helpers.getShotCloseAimPoint(player)
goalBearing = my.getRelativeBearing(dribbleAimPoint)
return (inPenaltyKickStrikezone(player)
or player.brain.ball.relX > constants.STOP_DRIBBLE_X
or abs(player.brain.ball.relY) > constants.STOP_DRIBBLE_Y
or abs(goalBearing) > constants.STOP_DRIBBLE_BEARING
or player.counter > constants.STOP_PENALTY_DRIBBLE_COUNT)
def shootBallClose(player):
"""
Slam-dunk!
"""
my = player.brain.my
shotAimPoint = helpers.getShotCloseAimPoint(player)
leftPostBearing = MyMath.getRelativeBearing(my.x, my.y, my.h,
NogginConstants.
LANDMARK_OPP_GOAL_LEFT_POST_X,
NogginConstants.
LANDMARK_OPP_GOAL_LEFT_POST_Y)
rightPostBearing = MyMath.getRelativeBearing(my.x, my.y, my.h,
NogginConstants.
LANDMARK_OPP_GOAL_RIGHT_POST_X,
NogginConstants.
LANDMARK_OPP_GOAL_RIGHT_POST_Y)
# Am I looking between the posts?
if (rightPostBearing < -constants.KICK_STRAIGHT_POST_BEARING and
leftPostBearing > constants.KICK_STRAIGHT_POST_BEARING):
return player.goNow('kickBallStraight')
leftShotPointBearing = MyMath.getRelativeBearing(my.x, my.y, my.h,
constants.
SHOOT_AT_LEFT_AIM_POINT[0],
constants.
SHOOT_AT_LEFT_AIM_POINT[1])
rightShotPointBearing = MyMath.getRelativeBearing(my.x, my.y, my.h,
constants.
SHOOT_AT_RIGHT_AIM_POINT[0],
constants.
SHOOT_AT_RIGHT_AIM_POINT[1])
# Turn to the closer shot point
if fabs(rightShotPointBearing) < fabs(leftShotPointBearing):
angleToAlign = rightShotPointBearing
else :
angleToAlign = leftShotPointBearing
if constants.SHOOT_BALL_SIDE_KICK_ANGLE > abs(angleToAlign) > \
constants.SHOOT_BALL_LOC_ALIGN_ANGLE and \
not player.hasAlignedOnce:
player.angleToAlign = angleToAlign
player.bigKick = False
return player.goNow('alignOnBallStraightKick')
elif angleToAlign > constants.SHOOT_BALL_SIDE_KICK_ANGLE:
return player.goNow('kickBallLeft')
elif angleToAlign < -constants.SHOOT_BALL_SIDE_KICK_ANGLE:
return player.goNow('kickBallRight')
else :
player.bigKick = False
return player.goLater('kickBallStraight')
def shouldStopDribbling(player):
"""
While dribbling we should stop
"""
my = player.brain.my
dribbleAimPoint = helpers.getShotCloseAimPoint(player)
goalBearing = my.getRelativeBearing(dribbleAimPoint)
return (player.penaltyKicking or inOppGoalbox(player)
or player.brain.ball.relX > constants.STOP_DRIBBLE_X
or abs(player.brain.ball.relY) > constants.STOP_DRIBBLE_Y
or abs(goalBearing) > constants.STOP_DRIBBLE_BEARING
or player.brain.my.x < (NogginConstants.FIELD_WHITE_WIDTH / 3.0 +
NogginConstants.GREEN_PAD_X))
def shouldStopDribbling(player):
"""
While dribbling we should stop
"""
my = player.brain.my
dribbleAimPoint = helpers.getShotCloseAimPoint(player)
goalBearing = my.getRelativeBearing(dribbleAimPoint)
return (player.penaltyKicking or
player.brain.my.inOppGoalbox() or
player.brain.ball.relX > constants.STOP_DRIBBLE_X or
fabs(player.brain.ball.relY) > constants.STOP_DRIBBLE_Y or
fabs(goalBearing) > constants.STOP_DRIBBLE_BEARING or
player.brain.my.x < ( NogginConstants.FIELD_WHITE_WIDTH / 3.0 +
NogginConstants.GREEN_PAD_X))
def shouldDribble(player):
"""
Ball is in between us and the opp goal, let's dribble for a while
"""
my = player.brain.my
dribbleAimPoint = helpers.getShotCloseAimPoint(player)
goalBearing = my.getRelativeBearing(dribbleAimPoint)
return (constants.USE_DRIBBLE and not player.penaltyKicking
and 0 < player.brain.ball.relX < constants.SHOULD_DRIBBLE_X
and 0 < abs(player.brain.ball.relY) < constants.SHOULD_DRIBBLE_Y
and abs(goalBearing) < constants.SHOULD_DRIBBLE_BEARING
and not inOppGoalbox(player) and player.brain.my.x >
(NogginConstants.FIELD_WHITE_WIDTH / 3.0 +
NogginConstants.GREEN_PAD_X))
def shouldDribble(player):
"""
Ball is in between us and the opp goal, let's dribble for a while
"""
if constants.USE_DRIBBLE:
my = player.brain.my
dribbleAimPoint = helpers.getShotCloseAimPoint(player)
goalBearing = my.getRelativeBearing(dribbleAimPoint)
return (not player.penaltyKicking and
0 < player.brain.ball.relX < constants.SHOULD_DRIBBLE_X and
0 < fabs(player.brain.ball.relY) < constants.SHOULD_DRIBBLE_Y and
fabs(goalBearing) < constants.SHOULD_DRIBBLE_BEARING and
not player.brain.my.inOppGoalbox() and
player.brain.my.x > (
NogginConstants.FIELD_WHITE_WIDTH / 3.0 +
NogginConstants.GREEN_PAD_X) )
def shootBallClose(player):
"""
Slam-dunk!
"""
my = player.brain.my
shotAimPoint = helpers.getShotCloseAimPoint(player)
leftPostBearing = my.getRelativeBearing(player.brain.oppGoalLeftPost)
rightPostBearing = my.getRelativeBearing(player.brain.oppGoalRightPost)
# Am I looking between the posts?
if (rightPostBearing < -constants.KICK_STRAIGHT_POST_BEARING and
leftPostBearing > constants.KICK_STRAIGHT_POST_BEARING):
return player.goNow('kickBallStraight')
leftShotPointBearing = my.getRelativeBearing(constants.SHOOT_AT_LEFT_AIM_POINT)
rightShotPointBearing = my.getRelativeBearing(constants.SHOOT_AT_RIGHT_AIM_POINT)
# Turn to the closer shot point
if fabs(rightShotPointBearing) < fabs(leftShotPointBearing):
angleToAlign = rightShotPointBearing
else :
angleToAlign = leftShotPointBearing
if constants.SHOOT_BALL_SIDE_KICK_ANGLE > abs(angleToAlign) > \
constants.SHOOT_BALL_LOC_ALIGN_ANGLE and \
not player.hasAlignedOnce:
player.angleToAlign = angleToAlign
player.bigKick = False
return player.goNow('alignOnBallStraightKick')
elif angleToAlign > constants.SHOOT_BALL_SIDE_KICK_ANGLE:
return player.goNow('kickBallLeft')
elif angleToAlign < -constants.SHOOT_BALL_SIDE_KICK_ANGLE:
return player.goNow('kickBallRight')
else :
player.bigKick = False
return player.goLater('kickBallStraight')
