def positionAsSupporter(player):
if (role.isChaser(player.role) and role.isChaser(player.roleOfClaimer) and
player.brain.ball.distance > hypot(CHASER_DISTANCE, CHASER_DISTANCE)):
fast = True
else:
fast = False
positionAsSupporter.position = getSupporterPosition(player, player.role)
# TODO don't call goTo every frame
player.brain.nav.goTo(positionAsSupporter.position, precision = nav.GENERAL_AREA,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = False, pb = False)
def positionAsSupporter(player):
if (role.isChaser(player.role) and role.isChaser(player.roleOfClaimer) and
player.brain.ball.distance > hypot(CHASER_DISTANCE, CHASER_DISTANCE)):
fast = True
else:
fast = False
positionAsSupporter.position = getSupporterPosition(player, player.role)
if player.firstFrame():
player.brain.nav.goTo(positionAsSupporter.position, precision = nav.GENERAL_AREA,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = False, pb = False)
player.brain.nav.updateDest(positionAsSupporter.position, fast=fast)
def branchOnRole(player):
"""
Chasers have different behavior than defenders, so we branch on
role here.
"""
if role.isChaser(player.role):
if transitions.shouldFindSharedBall(player):
return player.goNow('searchFieldForSharedBall')
return player.goNow('searchFieldByQuad')
return player.goNow('positionAtHome')
def branchOnRole(player):
"""
Chasers have different behavior than defenders, so we branch on
role here.
"""
if role.isChaser(player.role):
if transitions.shouldFindSharedBall(player):
return player.goNow('searchFieldForSharedBall')
return player.goNow('searchFieldByQuad')
return player.goNow('positionAtHome')
def branchOnRole(player):
"""
Chasers are going to have a different behavior again.
We will branch on behavior based on role here
"""
# print("TIME SINCE PLAYING:", player.brain.gameController.timeSincePlaying)
if role.isChaser(player.role):
if transitions.shouldFindSharedBall(player) and player.brain.gameController.timeSincePlaying > 75:
return player.goNow('searchFieldForSharedBall')
return player.goNow('searchFieldByQuad')
return player.goNow('positionAtHome')
def ballInBox(player):
"""
A transition which returns true if the ball is in the player's box
"""
ball = player.brain.ball
if ball.vis.frames_on > chaseConstants.BALL_ON_THRESH:
if role.isChaser(player.role):
return True
return (ball.x > player.box[0][0] and ball.y > player.box[0][1] and
ball.x < player.box[0][0] + player.box[1] and
ball.y < player.box[0][1] + player.box[2])
def ballInBox(player):
"""
A transition which returns true if the ball is in the player's box
"""
ball = player.brain.ball
if ball.vis.frames_on > chaseConstants.BALL_ON_THRESH:
if role.isChaser(player.role):
return True
return (ball.x > player.box[0][0] and ball.y > player.box[0][1]
and ball.x < player.box[0][0] + player.box[1]
and ball.y < player.box[0][1] + player.box[2])
def getSupporterPosition(player, role):
"""
Returns a position to stand at to support teammate who is chasing the ball.
Used in positionAsSupporter in PlayOffBallStates.
"""
if RoleConstants.isLeftDefender(role):
return leftDefender(player)
elif RoleConstants.isRightDefender(role):
return rightDefender(player)
elif RoleConstants.isChaser(role):
return chaser(player)
else: # cherry picker
return cherryPicker(player)
def getSupporterPosition(player, role):
"""
Returns a position to stand at to support teammate who is chasing the ball.
Used in positionAsSupporter in PlayOffBallStates.
"""
if RoleConstants.isLeftDefender(role):
return leftDefender(player)
elif RoleConstants.isRightDefender(role):
return rightDefender(player)
elif RoleConstants.isChaser(role):
return chaser(player)
else: # cherry picker
return cherryPicker(player)
def ballNotInBufferedBox(player):
"""
A transition which allows a stretching of a box so that the box isn't
so ridged. Intended use is for in approachBall, ensuring that we don't loop
between approachBall and positionAtHome if the ball is close to the edge of the box.
"""
ball = player.brain.ball
buf = role.boxBuffer
inBox = (ball.x > player.box[0][0] - buf and ball.y > player.box[0][1] - buf and \
ball.x < player.box[0][0] + player.box[1] + buf and \
ball.y < player.box[0][1] + player.box[2] + buf)
return (ball.vis.frames_off > chaseConstants.BALL_OFF_THRESH or
(not inBox and not role.isChaser(player.role)))
def ballNotInBufferedBox(player):
"""
A transition which allows a stretching of a box so that the box isn't
so ridged. Intended use is for in approachBall, ensuring that we don't loop
between approachBall and positionAtHome if the ball is close to the edge of the box.
"""
ball = player.brain.ball
buf = role.boxBuffer
inBox = (ball.x > player.box[0][0] - buf and ball.y > player.box[0][1] - buf and \
ball.x < player.box[0][0] + player.box[1] + buf and \
ball.y < player.box[0][1] + player.box[2] + buf)
return (ball.vis.frames_off > chaseConstants.BALL_OFF_THRESH
or (not inBox and not role.isChaser(player.role)))
def positionAtHome(player):
"""
Go to the player's home position.
"""
if role.isDefender(player.role):
home = calculateHomePosition(player)
else:
home = player.homePosition
if player.firstFrame():
player.brain.tracker.trackBall()
fastWalk = role.isChaser(player.role)
player.brain.nav.goTo(home, precision = nav.HOME,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = fastWalk, pb = False)
player.brain.nav.updateDest(home)
def positionAsSupporter(player):
positionAsSupporter.position = getSupporterPosition(player, player.role)
if player.firstFrame():
player.brain.tracker.trackBall()
fastWalk = role.isChaser(player.role)
player.brain.nav.goTo(positionAsSupporter.position, precision = nav.GENERAL_AREA,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = fastWalk, pb = False)
if positionAsSupporter.position.distTo(player.brain.loc) > 20:
player.brain.nav.goTo(positionAsSupporter.position, precision = nav.GENERAL_AREA,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = fastWalk, pb = False)
player.brain.nav.updateDest(positionAsSupporter.position, fast = fastWalk)
def positionAtHome(player):
"""
Go to the player's home position. Defenders look in the direction of the
shared ball if it is on with reliability >= 2. Cherry pickers look in the direction
of the shared ball if it is on with reliability >= 1.
"""
if role.isFirstChaser(player.role) and transitions.shouldFindSharedBall(player):
return player.goLater('searchFieldForSharedBall')
if player.brain.ball.vis.frames_off < 10:
ball = player.brain.ball
bearing = ball.bearing_deg
elif player.brain.sharedBall.ball_on:
ball = player.brain.sharedBall
bearing = degrees(atan2(ball.y - player.brain.loc.y,
ball.x - player.brain.loc.x)) - player.brain.loc.h
else:
ball = None
home = player.homePosition
if ball != None:
if role.isLeftDefender(player.role):
home = findDefenderHome(True, ball, bearing + player.brain.loc.h)
elif role.isRightDefender(player.role):
home = findDefenderHome(False, ball, bearing + player.brain.loc.h)
elif role.isStriker(player.role):
home = findStrikerHome(ball, bearing + player.brain.loc.h)
else:
home = player.homePosition
if player.firstFrame():
if role.isCherryPicker(player.role):
player.brain.tracker.repeatBasicPan()
else:
player.brain.tracker.trackBall()
fastWalk = role.isChaser(player.role)
player.brain.nav.goTo(home, precision = nav.HOME,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = fastWalk, pb = False)
player.brain.nav.updateDest(home)
def positionAtHome(player):
"""
Go to the player's home position.
"""
home = player.homePosition
if player.firstFrame():
# print "-----------Positioning at home-------------"
player.brain.tracker.trackBall()
fastWalk = role.isChaser(player.role)
player.brain.nav.goTo(home, precision = nav.HOME,
speed = speeds.SPEED_EIGHT, avoidObstacles = True,
fast = fastWalk, pb = False)
player.brain.nav.updateDest(home)
def positionAtHome(player):
"""
Go to the player's home position.
"""
if role.isDefender(player.role):
home = calculateHomePosition(player)
else:
home = player.homePosition
if player.firstFrame():
player.brain.tracker.trackBall()
fastWalk = role.isChaser(player.role)
player.brain.nav.goTo(home,
precision=nav.HOME,
speed=nav.QUICK_SPEED,
avoidObstacles=True,
fast=fastWalk,
pb=False)
player.brain.nav.updateDest(home)
def shouldNotBeSupporter(player):
if role.isChaser(player.role):
return shared.ballOffForNFrames(120)(player)
return not shouldBeSupporter(player)
def shouldNotBeSupporter(player):
if role.isChaser(player.role):
return shared.ballOffForNFrames(120)
return not shouldBeSupporter(player)
