def shoot_em(self, tank):
my_position = Point(tank.x, tank.y)
for enemy in self.enemies:
enemy_position = Point(enemy.x, enemy.y)
if my_position.distance(enemy_position) <= 50:
theta = self.fields.angle(tank,enemy)
if theta < 1.5 and theta > -1.5:
line_to_enemy = Line(my_position, enemy_position)
safe = True
for teamMate in self.mytanks:
if teamMate.index == tank.index:
continue
teamMate_position = Point(teamMate.x, teamMate.y)
cp2 = teamMate_position.closestPointOnLine(line_to_enemy)
teamMate_enemy_line = Line(teamMate_position, cp2)
if teamMate_position.distance(cp2) < 10:
safe = False
break
if safe == True:
return True
return False
def shoot_em(self, tank):
my_position = Point(tank.x, tank.y)
for enemy in self.enemies:
enemy_position = Point(enemy.x, enemy.y)
if my_position.distance(enemy_position) <= 50:
theta = self.fields.angle(tank, enemy)
if theta < 1.5 and theta > -1.5:
line_to_enemy = Line(my_position, enemy_position)
safe = True
for teamMate in self.mytanks:
if teamMate.index == tank.index:
continue
teamMate_position = Point(teamMate.x, teamMate.y)
cp2 = teamMate_position.closestPointOnLine(
line_to_enemy)
teamMate_enemy_line = Line(teamMate_position, cp2)
if teamMate_position.distance(cp2) < 10:
safe = False
break
if safe == True:
return True
return False
def tick(self):
self.commands = []
curtime = time.time()
self.mytanks = self.bzrc.get_mytanks()
for tank in self.mytanks:
curLocation = Point(tank.x, tank.y)
target = self.locationList[tank.index]
if curLocation.distance(target) < 10:
target = self.getRandomCoordinate(tank.index)
while self.grid.get(target.x, target.y) > .95:
target = self.getRandomCoordinate(tank.index)
self.locationList[tank.index] = target
self.oldlocation[tank.index] = curLocation
self.goToPoint(tank, target)
if(curtime - self.time > 4.25 ):
for tank in self.mytanks:
command = Command(tank.index,0,0,False)
self.commands = []
self.commands.append(command)
self.bzrc.do_commands(self.commands)
self.commands = []
self.getObservation(tank)
self.time = time.time()
def tick(self):
if(self.ticks < 10):
pass
if self.tank.status == "dead":
return
self.commands = []
curtime = time.time()
curLocation = Point(self.tank.x, self.tank.y)
target = self.locationList[self.tank.index]
if curLocation.distance(target) < 10:
target = self.getRandomCoordinate(self.tank.index)
while self.grid.get(target.x, target.y) > .95:
target = self.getRandomCoordinate(self.tank.index)
self.locationList[self.tank.index] = target
self.oldlocation[self.tank.index] = curLocation
self.goToPoint(self.tank, target)
if(curtime - self.time > 2.25 ):
command = Command(self.tank.index,0,0,False)
self.commands = []
self.commands.append(command)
self.bzrc.do_commands(self.commands)
self.commands = []
self.getObservation(self.tank)
self.time = time.time()
def kalmanCommand(self, totalX, totalY, theta, shoot, tank):
p = Point(tank.x, tank.y)
for obstacle in self.obstacles:
if (p.distance(obstacle) < 50):
deltaX, deltaY = self.fields.getTangentialField2(
self.tank, obstacle, 100, 40, "CW")
totalX = deltaX
totalY = deltaY
theta = math.atan2(totalY, totalX)
theta = self.normalize_angle(theta - tank.angle)
speed = math.sqrt(totalY**2 + totalX**2)
self.commands = []
command = Command(tank.index, .15 * speed, 1.15 * theta, True)
self.commands.append(command)
self.bzrc.do_commands(self.commands)
self.commands = []
def kalmanCommand(self,totalX,totalY,theta,shoot,tank):
p = Point(tank.x,tank.y)
for obstacle in self.obstacles:
if(p.distance(obstacle) < 50):
deltaX,deltaY = self.fields.getTangentialField2(self.tank,obstacle, 100, 40,"CW")
totalX = deltaX
totalY = deltaY
theta = math.atan2(totalY,totalX)
theta = self.normalize_angle(theta-tank.angle)
speed = math.sqrt(totalY**2+totalX**2)
self.commands = []
command = Command(tank.index,.15*speed,1.15*theta,True)
self.commands.append(command)
self.bzrc.do_commands(self.commands)
self.commands = []
