def calculateHomePosition(player):
"""
Calculate home position.
"""
# We've seen the ball recently enough
if player.brain.ball.vis.frames_off < 20:
ball = player.brain.ball
bearing = ball.bearing_deg
elif player.brain.sharedBall.ball_on:
ball = player.brain.sharedBall
bearing = degrees(atan2(ball.y - player.brain.loc.y,
ball.x - player.brain.loc.x)) - player.brain.loc.h
else:
ball = None
if ball != None and not (role.isDefender(player.role) and NogginConstants.FIXED_D_HOME):
if role.isLeftDefender(player.role):
home = findDefenderHomeWithBall(player, True, ball, bearing + player.brain.loc.h)
elif role.isRightDefender(player.role):
home = findDefenderHomeWithBall(player, False, ball, bearing + player.brain.loc.h)
elif role.isStriker(player.role):
home = findStrikerHome(ball, bearing + player.brain.loc.h)
else:
home = player.homePosition
else:
if role.isLeftDefender(player.role):
home = findDefenderHomeNoBall(player, True)
elif role.isRightDefender(player.role):
home = findDefenderHomeNoBall(player, False)
else:
home = player.homePosition
return home
def calculateHomePosition(player):
"""
Calculate home position.
"""
if player.brain.ball.vis.frames_off < 10:
ball = player.brain.ball
bearing = ball.bearing_deg
elif player.brain.sharedBall.ball_on:
ball = player.brain.sharedBall
bearing = degrees(
atan2(ball.y - player.brain.loc.y,
ball.x - player.brain.loc.x)) - player.brain.loc.h
else:
ball = None
if ball != None and not (role.isDefender(player.role)
and NogginConstants.FIXED_D_HOME):
if role.isLeftDefender(player.role):
home = findDefenderHome(True, ball, bearing + player.brain.loc.h)
elif role.isRightDefender(player.role):
home = findDefenderHome(False, ball, bearing + player.brain.loc.h)
elif role.isStriker(player.role):
home = findStrikerHome(ball, bearing + player.brain.loc.h)
else:
home = player.homePosition
else:
home = player.homePosition
return home
def tooFarFromHome(threshold, player):
"""
Returns true if LOC thinks we're more than *distance* away from our home
position
"""
if player.brain.ball.vis.frames_off < 10:
ball = player.brain.ball
elif player.brain.sharedBall.ball_on:
ball = player.brain.sharedBall
else:
ball = None
home = player.homePosition
if ball != None:
if role.isLeftDefender(player.role):
home = findDefenderHome(True, ball, player.homePosition.h)
elif role.isRightDefender(player.role):
home = findDefenderHome(False, ball, player.homePosition.h)
elif role.isStriker(player.role):
home = findStrikerHome(ball, player.homePosition.h)
else:
home = player.homePosition
distance = ((player.brain.loc.x - home.x) ** 2 + (player.brain.loc.y - home.y) ** 2) ** 0.5
return distance > threshold
def getSupporterPosition(player, role):
"""
Returns a position to stand at to support teammate who is chasing the ball.
Used in positionAsSupporter in PlayOffBallStates.
"""
if RoleConstants.isLeftDefender(role):
return leftDefender(player)
elif RoleConstants.isRightDefender(role):
return rightDefender(player)
elif RoleConstants.isChaser(role):
return chaser(player)
else: # cherry picker
return cherryPicker(player)
def getSupporterPosition(player, role):
"""
Returns a position to stand at to support teammate who is chasing the ball.
Used in positionAsSupporter in PlayOffBallStates.
"""
if RoleConstants.isLeftDefender(role):
return leftDefender(player)
elif RoleConstants.isRightDefender(role):
return rightDefender(player)
elif RoleConstants.isChaser(role):
return chaser(player)
else: # cherry picker
return cherryPicker(player)
def positionAtHome(player):
"""
Go to the player's home position. Defenders look in the direction of the
shared ball if it is on with reliability >= 2. Cherry pickers look in the direction
of the shared ball if it is on with reliability >= 1.
"""
if role.isFirstChaser(player.role) and transitions.shouldFindSharedBall(player):
return player.goLater('searchFieldForSharedBall')
if player.brain.ball.vis.frames_off < 10:
ball = player.brain.ball
bearing = ball.bearing_deg
elif player.brain.sharedBall.ball_on:
ball = player.brain.sharedBall
bearing = degrees(atan2(ball.y - player.brain.loc.y,
ball.x - player.brain.loc.x)) - player.brain.loc.h
else:
ball = None
home = player.homePosition
if ball != None:
if role.isLeftDefender(player.role):
home = findDefenderHome(True, ball, bearing + player.brain.loc.h)
elif role.isRightDefender(player.role):
home = findDefenderHome(False, ball, bearing + player.brain.loc.h)
elif role.isStriker(player.role):
home = findStrikerHome(ball, bearing + player.brain.loc.h)
else:
home = player.homePosition
if player.firstFrame():
if role.isCherryPicker(player.role):
player.brain.tracker.repeatBasicPan()
else:
player.brain.tracker.trackBall()
fastWalk = role.isChaser(player.role)
player.brain.nav.goTo(home, precision = nav.HOME,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = fastWalk, pb = False)
player.brain.nav.updateDest(home)