def compute_wall_segment(self):
"""
We compute the position where the wall's robot can block the field of view of opposing robot with the ball.
The field of view is defined as the triangle created by the ball and the goal_line extremities.
"""
nb_robots = len(self.robots_in_formation)
wall_segment_length = nb_robots * ROBOT_DIAMETER + GAP_IN_WALL * (nb_robots - 1)
goal_line = self.game_state.field.our_goal_line
bisection_angle = angle_between_three_points(goal_line.p2, self.object_to_block.position, goal_line.p1)
# We calculate the farthest distance from the object which completely block its FOV of the goal
object_to_center_formation_dist = wall_segment_length / tan(bisection_angle)
self.bisect_inter = find_bisector_of_triangle(self.object_to_block.position, goal_line.p1, goal_line.p2)
vec_object_to_goal_line_bisect = self.bisect_inter - self.object_to_block.position
# The penalty zone used to be a circle and thus really easy to handle, but now it's a rectangle...
# It easier to first create the smallest circle that fit the rectangle.
min_radius_over_penality_zone = ROBOT_RADIUS + (self.game_state.field.our_goal_area.upper_left - self.game_state.field.our_goal).norm
object_to_block_to_center_formation_dist = min(vec_object_to_goal_line_bisect.norm - min_radius_over_penality_zone,
object_to_center_formation_dist)
self.center_formation = object_to_block_to_center_formation_dist * normalize(vec_object_to_goal_line_bisect) + self.object_to_block.position
if self.stay_away_from_ball:
if (self.game_state.ball_position - self.center_formation).norm < KEEPOUT_DISTANCE_FROM_BALL:
self.center_formation = self._closest_point_away_from_ball()
half_wall_segment = 0.5 * wall_segment_length * perpendicular(normalize(vec_object_to_goal_line_bisect))
self.wall_segment = Line(self.center_formation + half_wall_segment,
self.center_formation - half_wall_segment)
def get_away_from_trajectory(position, start, end, min_distance):
try:
point = closest_point_on_line(position, start, end)
dist = position - point
except ZeroDivisionError:
point = position
dist = perpendicular(end - start) * min_distance/2
if dist.norm < min_distance:
return point - dist.norm * min_distance
else:
return position
def wait_for_ball(self):
perp_vec = perpendicular(self.player.position - self.game_state.ball.position)
component_lateral = perp_vec * np.dot(perp_vec.array, normalize(self.game_state.ball.velocity).array)
small_segment_len = np.sqrt(1 - component_lateral.norm**2)
latteral_move = component_lateral / small_segment_len * (self.player.position - self.game_state.ball.position).norm
if self._get_distance_from_ball() < HAS_BALL_DISTANCE:
self.next_state = self.halt
return self.halt()
if not self.is_ball_going_to_collide(threshold=18):
self.next_state = self.wait_for_ball
return CmdBuilder().build()
orientation = (self.game_state.ball_position - self.player.position).angle
return CmdBuilder().addMoveTo(Pose(self.player.position + latteral_move.view(Position), orientation),
cruise_speed=3,
end_speed=0,
ball_collision=False).addChargeKicker().build()
def wait_for_ball(self):
perp_vec = perpendicular(self.player.position -
self.game_state.ball.position)
component_lateral = perp_vec * np.dot(
perp_vec.array,
normalize(self.game_state.ball.velocity).array)
small_segment_len = np.sqrt(1 - component_lateral.norm**2)
latteral_move = component_lateral / small_segment_len * (
self.player.position - self.game_state.ball.position).norm
if self._get_distance_from_ball() < HAS_BALL_DISTANCE:
self.next_state = self.halt
return self.halt()
if not self.is_ball_going_to_collide(threshold=18):
self.next_state = self.wait_for_ball
return CmdBuilder().build()
orientation = (self.game_state.ball_position -
self.player.position).angle
return CmdBuilder().addMoveTo(
Pose(self.player.position + latteral_move.view(Position),
orientation),
cruise_speed=3,
end_speed=0,
ball_collision=False).addChargeKicker().build()
def test_perpendicular_identity():
assert perpendicular(A_POS) is not A_POS
def test_perpendicular_return_type():
assert isinstance(perpendicular(A_POS), Position)
def test_perpendicular_base_case():
assert perpendicular(A_POS) == A_POS_PERPENDICULAR
def test_perpendicular_identity():
assert perpendicular(A_POS) is not A_POS
def test_perpendicular_return_type():
assert isinstance(perpendicular(A_POS), Position)
def test_perpendicular_base_case():
assert perpendicular(A_POS) == A_POS_PERPENDICULAR