def isMatched(self, robot, ball):
max_e_dist = 40
their_defender = self.world.their_defender
(target_x, target_y) = self.goalCentre()
ball_y = self.world.ball.y
ball_x = self.world.ball.x
zone = self.world.pitch.zones[self.robot.zone]
zone = self.world.pitch.zones[self.robot.zone]
between = (ball_x - target_x) * (ball_x - self.midX) < 0.0
if between or ball_x < 1.0:
def_ang = their_defender._vector.angle
def_pos = their_defender._vector
p1 = array( [self.midX, 0.0] )
p2 = array( [self.midX, self.max_y] )
ad = array([math.cos(def_ang), math.sin(def_ang)])
p3 = array( [def_pos.x, def_pos.y] )
p4 = array( p3 + ad)
si = MyMath.seg_intersect( p1,p2, p3,p4)
#log_dot(si, 'yellow', 'haha')
#log('inter', si, 'MatchY')
g_to_mid = self.midX - target_x
y = si[1]
y = clip(y, max_e_dist, self.max_y - max_e_dist)
consol.log('facing', g_to_mid * ad[0] > 0.0, 'MatchY')
if g_to_mid * ad[0] > 0.0:
return math.fabs(robot.y - y) < ERROR
else:
return math.fabs(robot.y - self.midY) < ERROR
else:
y = clip(ball.y, max_e_dist, self.max_y - max_e_dist)
return math.fabs(robot.y - y) < ERROR
def nextCommand(self):
their_defender = self.world.their_defender
(target_x, target_y) = self.goalCentre()
ball_y = self.world.ball.y
ball_x = self.world.ball.x
zone = self.world.pitch.zones[self.robot.zone]
zone = self.world.pitch.zones[self.robot.zone]
max_e_dist = 40
between = (ball_x - target_x) * (ball_x - self.midX) < 0.0
if between or ball_x < 1.0:
def_ang = their_defender._vector.angle
def_pos = their_defender._vector
p1 = array( [self.midX, 0.0] )
p2 = array( [self.midX, self.max_y] )
ad = array([math.cos(def_ang), math.sin(def_ang)])
p3 = array( [def_pos.x, def_pos.y] )
p4 = array( p3 + ad)
si = MyMath.seg_intersect( p1,p2, p3,p4)
#log_dot(si, 'yellow', 'haha')
#log('inter', si, 'MatchY')
g_to_mid = self.midX - target_x
y = si[1]
y = clip(y, max_e_dist, self.max_y - max_e_dist)
consol.log('facing', g_to_mid * ad[0] > 0.0, 'MatchY')
if g_to_mid * ad[0] > 0.0:
command = self.go_to_asym(zone.center()[0], y, max_speed=100, min_speed=50)
else:
command = self.go_to_asym(self.midX, self.midY, max_speed=100, min_speed=50)
else:
y = clip(ball_y, max_e_dist, self.max_y - max_e_dist)
command = self.go_to_asym(zone.center()[0], ball_y, max_speed=100, min_speed=50)
return command
