def orbitBeforeKick(player):
"""
State for circling the ball when we're facing our goal.
"""
brain = player.brain
my = brain.my
if player.firstFrame():
player.orbitStartH = my.h
brain.CoA.setRobotGait(brain.motion)
brain.tracker.trackBall()
shotPoint = KickingHelpers.getShotCloseAimPoint(player)
bearingToGoal = my.getRelativeBearing(shotPoint)
spinDir = -MyMath.sign(bearingToGoal)
player.brain.nav.orbitAngle(spinDir * 90)
if not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
elif brain.ball.dist > constants.STOP_ORBIT_BALL_DIST:
return player.goLater('chase')
if player.brain.nav.isStopped() and not player.firstFrame():
return player.goLater('positionForKick')
return player.stay()
def orbitBeforeKick(player):
"""
State for circling the ball when we're facing our goal.
"""
brain = player.brain
my = brain.my
if player.firstFrame():
player.orbitStartH = my.h
brain.CoA.setRobotGait(brain.motion)
brain.tracker.trackBall()
shotPoint = KickingHelpers.getShotCloseAimPoint(player)
bearingToGoal = MyMath.getRelativeBearing(my.x, my.y, my.h,
shotPoint[0],
shotPoint[1] )
spinDir = -MyMath.sign(bearingToGoal)
player.brain.nav.orbitAngle(spinDir * 90)
if not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
elif brain.ball.dist > constants.STOP_ORBIT_BALL_DIST:
return player.goLater('chase')
if player.brain.nav.isStopped() and not player.firstFrame():
return player.goLater('positionForKick')
return player.stay()
def decideKick(player):
if ChaseBallTransitions.shouldScanFindBall(player):
player.inKickingState = False
return player.goLater('scanFindBall')
# Get references to the collected data
myLeftPostBearing = player.kickDecider.myLeftPostBearing
myRightPostBearing = player.kickDecider.myRightPostBearing
oppLeftPostBearing = player.kickDecider.oppLeftPostBearing
oppRightPostBearing = player.kickDecider.oppRightPostBearing
player.printf(player.kickDecider)
if player.penaltyKicking:
return player.goNow('penaltyKickBall')
player.kickObjective = helpers.getKickObjective(player)
if player.kickObjective == constants.OBJECTIVE_CLEAR:
return player.goNow('clearBall')
elif player.kickObjective == constants.OBJECTIVE_SHOOT_FAR or \
player.kickObjective == constants.OBJECTIVE_SHOOT_CLOSE:
return player.goNow('shootBall')
elif player.kickObjective == constants.OBJECTIVE_KICKOFF:
player.hasKickedOffKick = True
player.bigKick = False
return player.goNow('kickBallStraight')
else :
return player.goNow('clearBall')
def shouldStopPenaltyKickDribbling(player):
"""
While dribbling we should stop
"""
my = player.brain.my
dribbleAimPoint = helpers.getShotCloseAimPoint(player)
goalBearing = my.getRelativeBearing(dribbleAimPoint)
return (inPenaltyKickStrikezone(player) or
player.brain.ball.relX > constants.STOP_DRIBBLE_X or
fabs(player.brain.ball.relY) > constants.STOP_DRIBBLE_Y or
fabs(goalBearing) > constants.STOP_DRIBBLE_BEARING or
player.counter > constants.STOP_PENALTY_DRIBBLE_COUNT)
def shouldStopPenaltyKickDribbling(player):
"""
While dribbling we should stop
"""
my = player.brain.my
dribbleAimPoint = helpers.getShotCloseAimPoint(player)
goalBearing = my.getRelativeBearing(dribbleAimPoint)
return (inPenaltyKickStrikezone(player)
or player.brain.ball.relX > constants.STOP_DRIBBLE_X
or abs(player.brain.ball.relY) > constants.STOP_DRIBBLE_Y
or abs(goalBearing) > constants.STOP_DRIBBLE_BEARING
or player.counter > constants.STOP_PENALTY_DRIBBLE_COUNT)
def shootBallClose(player):
"""
Slam-dunk!
"""
my = player.brain.my
shotAimPoint = helpers.getShotCloseAimPoint(player)
leftPostBearing = MyMath.getRelativeBearing(my.x, my.y, my.h,
NogginConstants.
LANDMARK_OPP_GOAL_LEFT_POST_X,
NogginConstants.
LANDMARK_OPP_GOAL_LEFT_POST_Y)
rightPostBearing = MyMath.getRelativeBearing(my.x, my.y, my.h,
NogginConstants.
LANDMARK_OPP_GOAL_RIGHT_POST_X,
NogginConstants.
LANDMARK_OPP_GOAL_RIGHT_POST_Y)
# Am I looking between the posts?
if (rightPostBearing < -constants.KICK_STRAIGHT_POST_BEARING and
leftPostBearing > constants.KICK_STRAIGHT_POST_BEARING):
return player.goNow('kickBallStraight')
leftShotPointBearing = MyMath.getRelativeBearing(my.x, my.y, my.h,
constants.
SHOOT_AT_LEFT_AIM_POINT[0],
constants.
SHOOT_AT_LEFT_AIM_POINT[1])
rightShotPointBearing = MyMath.getRelativeBearing(my.x, my.y, my.h,
constants.
SHOOT_AT_RIGHT_AIM_POINT[0],
constants.
SHOOT_AT_RIGHT_AIM_POINT[1])
# Turn to the closer shot point
if fabs(rightShotPointBearing) < fabs(leftShotPointBearing):
angleToAlign = rightShotPointBearing
else :
angleToAlign = leftShotPointBearing
if constants.SHOOT_BALL_SIDE_KICK_ANGLE > abs(angleToAlign) > \
constants.SHOOT_BALL_LOC_ALIGN_ANGLE and \
not player.hasAlignedOnce:
player.angleToAlign = angleToAlign
player.bigKick = False
return player.goNow('alignOnBallStraightKick')
elif angleToAlign > constants.SHOOT_BALL_SIDE_KICK_ANGLE:
return player.goNow('kickBallLeft')
elif angleToAlign < -constants.SHOOT_BALL_SIDE_KICK_ANGLE:
return player.goNow('kickBallRight')
else :
player.bigKick = False
return player.goLater('kickBallStraight')
def shouldStopDribbling(player):
"""
While dribbling we should stop
"""
my = player.brain.my
dribbleAimPoint = helpers.getShotCloseAimPoint(player)
goalBearing = my.getRelativeBearing(dribbleAimPoint)
return (player.penaltyKicking or inOppGoalbox(player)
or player.brain.ball.relX > constants.STOP_DRIBBLE_X
or abs(player.brain.ball.relY) > constants.STOP_DRIBBLE_Y
or abs(goalBearing) > constants.STOP_DRIBBLE_BEARING
or player.brain.my.x < (NogginConstants.FIELD_WHITE_WIDTH / 3.0 +
NogginConstants.GREEN_PAD_X))
def shouldStopDribbling(player):
"""
While dribbling we should stop
"""
my = player.brain.my
dribbleAimPoint = helpers.getShotCloseAimPoint(player)
goalBearing = my.getRelativeBearing(dribbleAimPoint)
return (player.penaltyKicking or
player.brain.my.inOppGoalbox() or
player.brain.ball.relX > constants.STOP_DRIBBLE_X or
fabs(player.brain.ball.relY) > constants.STOP_DRIBBLE_Y or
fabs(goalBearing) > constants.STOP_DRIBBLE_BEARING or
player.brain.my.x < ( NogginConstants.FIELD_WHITE_WIDTH / 3.0 +
NogginConstants.GREEN_PAD_X))
def shouldDribble(player):
"""
Ball is in between us and the opp goal, let's dribble for a while
"""
my = player.brain.my
dribbleAimPoint = helpers.getShotCloseAimPoint(player)
goalBearing = my.getRelativeBearing(dribbleAimPoint)
return (constants.USE_DRIBBLE and not player.penaltyKicking
and 0 < player.brain.ball.relX < constants.SHOULD_DRIBBLE_X
and 0 < abs(player.brain.ball.relY) < constants.SHOULD_DRIBBLE_Y
and abs(goalBearing) < constants.SHOULD_DRIBBLE_BEARING
and not inOppGoalbox(player) and player.brain.my.x >
(NogginConstants.FIELD_WHITE_WIDTH / 3.0 +
NogginConstants.GREEN_PAD_X))
def shouldDribble(player):
"""
Ball is in between us and the opp goal, let's dribble for a while
"""
if constants.USE_DRIBBLE:
my = player.brain.my
dribbleAimPoint = helpers.getShotCloseAimPoint(player)
goalBearing = my.getRelativeBearing(dribbleAimPoint)
return (not player.penaltyKicking and
0 < player.brain.ball.relX < constants.SHOULD_DRIBBLE_X and
0 < fabs(player.brain.ball.relY) < constants.SHOULD_DRIBBLE_Y and
fabs(goalBearing) < constants.SHOULD_DRIBBLE_BEARING and
not player.brain.my.inOppGoalbox() and
player.brain.my.x > (
NogginConstants.FIELD_WHITE_WIDTH / 3.0 +
NogginConstants.GREEN_PAD_X) )
def shootBallFar(player):
"""
From 3 point range!
"""
my = player.brain.my
shotAimPoint = helpers.getShotFarAimPoint(player)
bearingToGoal = my.getRelativeBearing(shotAimPoint)
if constants.DEBUG_KICKS: print "bearing to goal is ", bearingToGoal
if constants.SHOOT_BALL_FAR_SIDE_KICK_ANGLE > abs(bearingToGoal) > \
constants.SHOOT_BALL_FAR_LOC_ALIGN_ANGLE and \
not player.hasAlignedOnce:
player.angleToAlign = bearingToGoal
player.bigKick = True
return player.goNow('alignOnBallStraightKick')
elif bearingToGoal > constants.SHOOT_BALL_SIDE_KICK_ANGLE:
return player.goNow('kickBallLeft')
elif bearingToGoal < -constants.SHOOT_BALL_SIDE_KICK_ANGLE:
return player.goNow('kickBallRight')
else :
player.bigKick = True
return player.goNow('kickBallStraight')
def shootBallClose(player):
"""
Slam-dunk!
"""
my = player.brain.my
shotAimPoint = helpers.getShotCloseAimPoint(player)
leftPostBearing = my.getRelativeBearing(player.brain.oppGoalLeftPost)
rightPostBearing = my.getRelativeBearing(player.brain.oppGoalRightPost)
# Am I looking between the posts?
if (rightPostBearing < -constants.KICK_STRAIGHT_POST_BEARING and
leftPostBearing > constants.KICK_STRAIGHT_POST_BEARING):
return player.goNow('kickBallStraight')
leftShotPointBearing = my.getRelativeBearing(constants.SHOOT_AT_LEFT_AIM_POINT)
rightShotPointBearing = my.getRelativeBearing(constants.SHOOT_AT_RIGHT_AIM_POINT)
# Turn to the closer shot point
if fabs(rightShotPointBearing) < fabs(leftShotPointBearing):
angleToAlign = rightShotPointBearing
else :
angleToAlign = leftShotPointBearing
if constants.SHOOT_BALL_SIDE_KICK_ANGLE > abs(angleToAlign) > \
constants.SHOOT_BALL_LOC_ALIGN_ANGLE and \
not player.hasAlignedOnce:
player.angleToAlign = angleToAlign
player.bigKick = False
return player.goNow('alignOnBallStraightKick')
elif angleToAlign > constants.SHOOT_BALL_SIDE_KICK_ANGLE:
return player.goNow('kickBallLeft')
elif angleToAlign < -constants.SHOOT_BALL_SIDE_KICK_ANGLE:
return player.goNow('kickBallRight')
else :
player.bigKick = False
return player.goLater('kickBallStraight')
def decideKick(player):
if ChaseBallTransitions.shouldScanFindBall(player):
player.inKickingState = False
return player.goLater('scanFindBall')
player.printf(player.kickDecider)
if player.penaltyKicking:
return player.goNow('penaltyKickBall')
player.kickObjective = helpers.getKickObjective(player)
if player.kickObjective == constants.OBJECTIVE_CLEAR:
return player.goNow('clearBall')
elif player.kickObjective == constants.OBJECTIVE_SHOOT_FAR or \
player.kickObjective == constants.OBJECTIVE_SHOOT_CLOSE:
return player.goNow('shootBall')
elif player.kickObjective == constants.OBJECTIVE_KICKOFF:
player.hasKickedOffKick = True
player.bigKick = False
return player.goNow('kickBallStraight')
else :
return player.goNow('clearBall')
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')
