def getApproachHeadingFromFront(self):
ball = self.brain.ball
my = self.brain.my
kickDest = KickingHelpers.getShotFarAimPoint(self)
ballLoc = RobotLocation(ball.x, ball.y, NogginConstants.OPP_GOAL_HEADING)
ballBearingToKickDest = ballLoc.getRelativeBearing(kickDest)
if my.y > ball.y:
destH = ballBearingToKickDest - 90
else :
destH = ballBearingToKickDest + 90
return destH
def penaltyKickBall(player):
ball = player.brain.ball
if not player.penaltyMadeFirstKick:
return player.goLater('penaltyKickShortDribble')
#return player.goLater('kickBallStraightShort')
if not player.penaltyMadeSecondKick:
ballLoc = RobotLocation(ball.x, ball.y, NogginConstants.OPP_GOAL_HEADING)
goalLoc = Location( NogginConstants.OPP_GOAL_MIDPOINT[0],
NogginConstants.OPP_GOAL_MIDPOINT[1])
ballBearingToGoal = ballLoc.getRelativeBearing(goalLoc)
player.angleToAlign = ballBearingToGoal - player.brain.my.h
if player.angleToAlign < constants.ALIGN_FOR_KICK_MIN_ANGLE:
player.bigKick = True
return player.goLater('kickBallStraight')
else :
return player.goLater('alignOnBallStraightKick')
return player.stay()
def getApproachHeadingFromBehind(self):
ball = self.brain.ball
aimPoint = KickingHelpers.getShotFarAimPoint(self)
ballLoc = RobotLocation(ball.x, ball.y, NogginConstants.OPP_GOAL_HEADING)
ballBearingToGoal = ballLoc.getRelativeBearing(aimPoint)
return ballBearingToGoal
