def predict_puck_movement(self, bag): #ausgefuehrt
"""
Predicts the pucks movement.
:param bag: The parameter bag.
:return:
"""
# need at least 2 points
if len(self.buffer) < 2:
return
# loop over points
direction_sum = (0, 0)
for i in xrange(0, len(self.buffer) - 1):
# get tuples and time diff
current_tuple = self.buffer[i]
next_tuple = self.buffer[i+1]
time_diff = next_tuple[2] - current_tuple[2]
# get direction (length is velocity) and divide by time_diff
direction = vector.mul_by(vector.from_to(current_tuple, next_tuple), 1.0 / time_diff)
# sum up
direction_sum = vector.add(direction_sum, direction)
# averaging
direction = vector.mul_by(direction_sum, 1.0 / self.buffer_size)
# add puck direction (normalized) and velocity
bag.puck.velocity = vector.length(direction)
bag.puck.direction = vector.normalize(direction)
bag.next.puck.olddirection = bag.puck.direction
def move_stick(self, bag):
"""
Moves the stick.
:param bag: The parameter bag.
:return:
"""
if 'position' not in bag.stick:
bag.next.stick.position = strategy.SimpleStrategy.HOME_POSITION
return
if 'dest_position' not in bag.stick:
position = bag.stick.position
else:
# move stick towards destination
# ignore dest_direction and dest_velocity
dist_moved = strategy.SimpleStrategy.STICK_MAX_SPEED * bag.time_diff
direction = vector.from_to(bag.stick.position, bag.stick.dest_position)
if dist_moved > vector.length(direction):
position = bag.stick.dest_position
else:
direction = vector.mul_by(vector.normalize(direction), dist_moved * strategy.SimpleStrategy.STICK_MAX_SPEED)
position = vector.add(bag.stick.position, direction)
# set new position
bag.next.stick.position = position
def evaluate(self, goal, goal2):
dir = vector.normalize(vector.from_to(self.position, goal))
stop = vector.sub(self.velocity,
vector.mult(vector.along(self.velocity, dir), 0.25))
if vector.sqr_distance(self.position, goal) < 0.2:
return vector.normalize(
vector.sub(vector.sub(dir, stop), self.velocity))
return vector.normalize(vector.sub(dir, stop))
def MoveBetweenPuckAndGoal(self, bag):
"""
calculates the point between Goal an puck with x Koordinates 0.1
:param bag: The parameter bag.
:return: point between Goal an puck with x Koordinates 0.1
"""
positionGoal = [0, 0.5]
directionGoalToPuck = vector.from_to(bag.puck.position, positionGoal)
return self.CrossXLine(bag, 0.1, positionGoal, directionGoalToPuck)
def _check_for_wild_shot(self, bag):
"""
Checks if the latest puck position is a wild shot. Requires bag.puck.predicted_position.
:param bag: The parameter bag
:return:
"""
#TODO ueberlegen ob nutzen oder loeschen
predicted_position_pixel = vector.coord_to_image_space(bag.puck.predicted_position, bag.table_boundaries)
diff = vector.length(vector.from_to(bag.puck.position_pixel, predicted_position_pixel))
# use time_diff and velocity to play with this value
#accepted = self.ACCEPTABLE_PUCK_POSITION_DIFF * bag.time_diff * max((1000 * self.last_path[-1][2]) if len(self.last_path) > 0 else 1.0, 1.0)
#return diff > accepted
return False
def go_home(self, bag):
"""
Starts to move the stick to its home position.
:param bag: The parameter bag.
:return:
"""
# can only go home if we actually have a stick
if 'position' in bag.stick:
dist_home = vector.length(vector.from_to(bag.stick.position, self.HOME_POSITION))
bag.stick.dest_position = self.HOME_POSITION
bag.stick.dest_direction = (0, 0)
bag.stick.dest_velocity = 0
bag.stick.dest_time = time.time() + dist_home / self.STICK_MAX_SPEED
def _calculate_collision_point(self, bag):
"""
Calculates the collision point between the puck and the stick.
:param bag: The parameter bag.
:return:
"""
# NOTE: First attempt, ignoring stick and puck acceleration, puck radius and stick radius here
# OK, math first:
#
# S = stick position
# C = point of collision
# v = max speed of the stick
# P = puck position
# p = puck direction * velocity
#
# Points which the stick can reach in time t build a circle around him:
# 1. (Cx - Sx)^2 + (Cy - Sy)^2 = r = v * t
#
# Points which the puck reaches in time t are on the line:
# 2. Px + px * t = Cx
# 3. Py + py * t = Cy
#
# Approach:
# - replace Cx and Cy in 1. with 2. and 3.
# - bracket the square terms (Px + px * t - Sx)^2 and (Py + py * t - Sy)^2
# - outline t^2 and t to get a formula like t^2*(...) + t*(...) + (...)
# - name (...) a, b and c
# - use the quadratic formula to get t
# - use puck movement and t to get collision point
# - use stick position and collision point
# - gg
Sx = bag.stick.position[0]
Sy = bag.stick.position[1]
Px = bag.puck.position[0]
Py = bag.puck.position[1]
px = bag.puck.direction[0] * bag.puck.velocity
py = bag.puck.direction[1] * bag.puck.velocity
v = self.STICK_MAX_SPEED
# calculate a, b and c
a = px*px + py*py - v*v
b = 2*Px*px - 2*Sx*px + 2*Py*py - 2*Sy*py
c = Px*Px - 2*Px*Sx + Sx*Sx + Py*Py - 2*Py*Sy + Sy*Sy
# calculate t
inner_sqrt = b*b - 4*a*c
if inner_sqrt < 0:
print("Going home, inner sqrt: " + str(inner_sqrt))
# no chance to get that thing, go home
self.go_home(bag)
return
# use + first, since a is negative (Vpuck - Vstick)
# (... / 2 * a) -> shortest time needed
sqrt_b2_4ac = math.sqrt(inner_sqrt)
t = (-b + sqrt_b2_4ac) / 2*a
print("Vp: "+str(bag.puck.velocity))
print("t: "+str(t))
if t < 0:
# too late for that chance, use other result
t = (-b - sqrt_b2_4ac) / 2*a
print("t2: "+str(t))
# get collision point
C = vector.add((Px, Py), vector.mul_by((px, py), t))
s = vector.from_to((Sx, Sy), C)
# save
bag.stick.dest_position = C
bag.stick.dest_direction = vector.normalize(s)
bag.stick.dest_velocity = self.STICK_MAX_SPEED
bag.stick.dest_time = time.time() + t
def evaluate(self, goal, goal2):
dir = vector.normalize(vector.from_to(self.position, goal))
stop = vector.normalize(self.velocity)
return vector.normalize(vector.sub(dir, stop))
def evaluate(self, goal, goal2):
dir = vector.normalize(vector.from_to(self.position, goal))
stop = vector.normalize(self.velocity)
stop = vector.mult(stop, vector.dot(stop, dir) * self.scale)
return vector.normalize(vector.sub(dir, stop))
def evaluate(self, goal, goal2):
dir = vector.normalize(vector.from_to(self.position, goal))
stop = vector.mult(
vector.sub(self.velocity, vector.along(self.velocity, dir)),
vector.length(self.velocity) * 2)
return vector.normalize(vector.sub(dir, stop))
