def clearBall(player):
"""
Get the ball out of our zone!
"""
# Get references to the collected data
myLeftPostBearing = player.kickDecider.myLeftPostBearing
myRightPostBearing = player.kickDecider.myRightPostBearing
oppLeftPostBearing = player.kickDecider.oppLeftPostBearing
oppRightPostBearing = player.kickDecider.oppRightPostBearing
# Things to do if we saw our own goal
# Saw the opponent goal
if abs(player.brain.my.h) > constants.ORBIT_OWN_GOAL_HEADING_THRESH and \
(helpers.inTopOfField(player) or helpers.inBottomOfField(player) ):
return player.goLater('orbitBeforeKick')
if oppLeftPostBearing is not None and \
oppRightPostBearing is not None:
avgOppBearing = (oppLeftPostBearing + oppRightPostBearing)/2
if fabs(avgOppBearing) < constants.ALIGN_FOR_KICK_BEARING_THRESH:
if constants.DEBUG_KICKS: print ("\t\t Straight 1")
player.bigKick = True
return player.goLater('kickBallStraight')
elif avgOppBearing > constants.ALIGN_FOR_KICK_BEARING_THRESH:
if constants.DEBUG_KICKS: print ("\t\t Left 5")
return player.goLater('kickBallLeft')
elif avgOppBearing < -constants.ALIGN_FOR_KICK_BEARING_THRESH:
if constants.DEBUG_KICKS: print ("\t\t Right 5")
return player.goLater('kickBallRight')
elif player.kickDecider.sawOwnGoal:
if myLeftPostBearing is not None and myRightPostBearing is not None:
# Goal in front
avgMyGoalBearing = (myRightPostBearing + myLeftPostBearing)/2
if avgMyGoalBearing > 0:
if constants.DEBUG_KICKS: print ("\t\tright 1")
return player.goLater('kickBallRight')
else :
if constants.DEBUG_KICKS: print ("\t\tleft 1")
return player.goLater('kickBallLeft')
else :
postBearing = 0.0
if myLeftPostBearing is not None:
postBearing = myLeftPostBearing
else :
postBearing = myRightPostBearing
if postBearing > 0:
return player.goLater('kickBallRight')
else :
return player.goLater('kickBallLeft')
else:
# use localization for kick
my = player.brain.my
if helpers.inCenterOfField(player):
if abs(my.h) <= constants.CLEAR_CENTER_FIELD_STRAIGHT_ANGLE:
if constants.DEBUG_KICKS: print ("\t\tcenter1")
player.bigKick = True
return player.goLater('kickBallStraight')
elif my.h < -constants.CLEAR_CENTER_FIELD_STRAIGHT_ANGLE:
if constants.DEBUG_KICKS: print ("\t\tcenter2")
return player.goLater('kickBallLeft')
elif my.h > constants.CLEAR_CENTER_FIELD_STRAIGHT_ANGLE:
if constants.DEBUG_KICKS: print ("\t\tcenter3")
return player.goLater('kickBallRight')
elif helpers.inTopOfField(player):
if constants.FACING_SIDELINE_ANGLE < my.h:
if constants.DEBUG_KICKS: print ("\t\ttop1")
return player.goLater('kickBallRight')
elif my.h < -90:
if constants.DEBUG_KICKS: print ("\t\ttop3")
return player.goLater('kickBallLeft')
else :
if constants.DEBUG_KICKS: print ("\t\ttop4")
player.bigKick = True
return player.goLater('kickBallStraight')
elif helpers.inBottomOfField(player):
if -constants.FACING_SIDELINE_ANGLE > my.h:
if constants.DEBUG_KICKS: print ("\t\tbottom1")
return player.goLater('kickBallLeft')
elif my.h > 90:
if constants.DEBUG_KICKS: print ("\t\tbottom3")
return player.goLater('kickBallRight')
else :
if constants.DEBUG_KICKS: print ("\t\tbottom4")
player.bigKick = True
return player.goLater('kickBallStraight')
player.bigKick = False
return player.goLater('kickBallStraight')
def shootBall(player):
"""
Put it in the hole!
"""
# Get references to the collected data
myLeftPostBearing = player.kickDecider.myLeftPostBearing
myRightPostBearing = player.kickDecider.myRightPostBearing
oppLeftPostBearing = player.kickDecider.oppLeftPostBearing
oppRightPostBearing = player.kickDecider.oppRightPostBearing
my = player.brain.my
if oppLeftPostBearing is not None and \
oppRightPostBearing is not None:
if (oppRightPostBearing < -constants.KICK_STRAIGHT_POST_BEARING and
oppLeftPostBearing > constants.KICK_STRAIGHT_POST_BEARING):
player.bigKick = True
return player.goLater('kickBallStraight')
avgOppBearing = (oppLeftPostBearing + oppRightPostBearing)/2
if fabs(avgOppBearing) < constants.KICK_STRAIGHT_BEARING_THRESH:
if constants.DEBUG_KICKS: print ("\t\t Straight 1")
player.bigKick = True
return player.goLater('kickBallStraight')
elif fabs(avgOppBearing) < constants.ALIGN_FOR_KICK_BEARING_THRESH and \
not player.hasAlignedOnce:
if constants.DEBUG_KICKS: print ("\t\t Align 1")
player.angleToAlign = avgOppBearing
player.bigKick = True
return player.goLater('alignOnBallStraightKick')
elif avgOppBearing > constants.ALIGN_FOR_KICK_BEARING_THRESH:
if constants.DEBUG_KICKS: print ("\t\t Left 5")
return player.goLater('kickBallLeft')
elif avgOppBearing < -constants.ALIGN_FOR_KICK_BEARING_THRESH:
if constants.DEBUG_KICKS: print ("\t\t Right 5")
return player.goLater('kickBallRight')
elif myLeftPostBearing is not None and myRightPostBearing is not None:
avgMyGoalBearing = (myRightPostBearing + myLeftPostBearing)/2
if helpers.inCenterOfField(player):
if constants.DEBUG_KICKS: print ("\t\tcenterfieldkick")
if avgMyGoalBearing > 0:
return player.goLater('kickBallRight')
else :
return player.goLater('kickBallLeft')
elif helpers.inTopOfField(player):
if constants.DEBUG_KICKS: print ("\t\ttopfieldkick")
if 90 > avgMyGoalBearing > -30:
return player.goLater('kickBallRight')
elif avgMyGoalBearing < -30:
return player.goLater('kickBallLeft')
else :
return player.goLater('kickBallStraight')
elif helpers.inBottomOfField(player):
if constants.DEBUG_KICKS: print ("\t\tbottomfieldkick")
if -90 < avgMyGoalBearing < 30:
return player.goLater('kickBallRight')
elif avgMyGoalBearing > 30:
return player.goLater('kickBallLeft')
else :
return player.goLater('kickBallStraight')
# if somehow we didn't return already with our kick choice,
# use localization for kick
if player.kickObjective == constants.OBJECTIVE_SHOOT_CLOSE:
return player.goNow('shootBallClose')
else :
return player.goNow('shootBallFar')
