def markShot(self, puck):
puckPos = self.getRelativePos(puck.position)
puckVel = self.getRelativeVector(puck.velocity)
if puckVel.x < 0:
return 0
shotLine = Line(puckPos, puckPos + puckVel)
goalLine = Line(Vector2(FIELD_WIDTH, 0), Vector2(FIELD_WIDTH, 1))
intersection = shotLine.getIntersectPoint(goalLine)
if intersection is None:
return 0
distFromCenter = abs(intersection.y)
bounces = 0
afterBounceDist = distFromCenter
while afterBounceDist > FIELD_HEIGHT / 2:
bounces += 1
afterBounceDist -= FIELD_HEIGHT
afterBounceDist = abs(afterBounceDist)
if bounces > 3:
return 0
if afterBounceDist > GOAL_SPAN / 2:
accuracy = min(1, ((GOAL_SPAN / 2) / afterBounceDist)**2)
else:
accuracy = 1
return round(puck.velocity.magnitude_squared() / 100000 * accuracy)
def defendGoalDefault(self):
if self.willBounce and self.puck.state == ACURATE\
and (self.puck.vector.x < -0.5 or (self.puck.vector.x < 0 and self.puck.trajectory[-1].end.x <= PUCK_RADIUS))\
and not (self.puck.position.x > FIELD_WIDTH*.6 and self.puck.speedMagnitude < 500):
if self.puck.trajectory[-1].end.x > XLIMIT + STRIKER_RADIUS:
fromPoint = self.puck.trajectory[-1].end
else:
fromPoint = self.puck.trajectory[-1].start
else:
fromPoint = self.puck.position
a = Line(fromPoint, Vector2(0, 0))
b = Line(Vector2(DEFENSE_LINE, -FIELD_HEIGHT / 2),
Vector2(DEFENSE_LINE, FIELD_HEIGHT / 2))
desiredPosition = a.getIntersectPoint(b)
self.debugLines.append(a)
self.debugLines.append(b)
self.debugString = "basic.defendGoalDefault"
if desiredPosition is not None:
self.setDesiredPosition(Vector2(desiredPosition))
def initialCheck(self, pos):
currentStepVector = pos - self.puck.position
stepDistance = currentStepVector.magnitude()
if self.puck.timeSinceCaptured == 0:
stepSpeed = 0
else:
stepSpeed = stepDistance / self.puck.timeSinceCaptured
errorAngle = self.getAngleDifference(currentStepVector,
self.puck.velocity)
# Low angle condition
if abs(errorAngle) > self.lowAngleTolerance and sign(
errorAngle) == self.previousErrorSide:
self.capturesWithBadLowAngle += 1
if (self.capturesWithBadLowAngle > 4):
# print("Low Angle error")
for i in range(4):
self.puckHistory[self.firstUsefull].state = USELESS
if self.firstUsefull > 1: self.firstUsefull -= 1
else:
self.capturesWithBadLowAngle = 0
self.previousErrorSide = sign(errorAngle)
if stepSpeed > 200 and stepDistance > 4 and abs(errorAngle):
# Medium angle condition
if abs(errorAngle) > self.mediumAngleTolerance and sign(
errorAngle) == self.previousErrorSide:
self.capturesWithBadMediumAngle += 1
if (self.capturesWithBadMediumAngle > 3):
# print("Low angle condition.. 4 states -> useless")
self.capturesWithBadLowAngle = 0
self.capturesWithBadMediumAngle = 0
# print("Medium Angle error")
for i in range(3, len(self.puckHistory)):
self.puckHistory[i].state = USELESS
else:
self.capturesWithBadMediumAngle = 0
# Debug
# if len(self.puck.trajectory) > 0:
# trajectoryLine = Line(self.puckHistory[self.firstUsefull].position, self.puck.position)
# bounceLine = Line(Vector2(0, sign(pos.y) * (FIELD_HEIGHT/2 - PUCK_RADIUS)), Vector2(FIELD_WIDTH, sign(pos.y) * (FIELD_HEIGHT/2 - PUCK_RADIUS)))
# self.debugLines.append(trajectoryLine)
# self.debugLines.append(bounceLine)
# self.debugPoints.append(self.getIntersectPoint(trajectoryLine, bounceLine))
# High angle condition
if (abs(errorAngle) > self.highAngleTolerance) or (
stepSpeed > 700 and stepDistance > 25
and abs(errorAngle) > self.highAngleTolerance * .4):
self.capturesWithBadLowAngle = 0
self.capturesWithBadMediumAngle = 0
# print("Angle condition: " + str(errorAngle))
if abs(pos.y) > max(
200, FIELD_HEIGHT / 2 -
(stepDistance * abs(self.puck.vector.y) + PUCK_RADIUS)
) and sign(currentStepVector.x) == sign(
self.puck.velocity.x
) and sign(self.puck.velocity.y) == sign(
pos.y
) and self.puck.state == ACURATE: # seems like bounce from sidewalls occured
trajectoryLine = Line(
self.puckHistory[self.firstUsefull].position,
self.puck.position)
bounceLine = Line(
Vector2(0,
sign(pos.y) *
(FIELD_HEIGHT / 2 - PUCK_RADIUS)),
Vector2(FIELD_WIDTH,
sign(pos.y) *
(FIELD_HEIGHT / 2 - PUCK_RADIUS)))
bouncePoint = trajectoryLine.getIntersectPoint(bounceLine)
self.debugLines.append(trajectoryLine)
self.debugLines.append(bounceLine)
bouncePoint = trajectoryLine.getIntersectPoint(bounceLine)
self.puck.position = bouncePoint
# print(bouncePoint)
for i in range(len(self.puckHistory)):
self.puckHistory[i].state = USELESS