def tooFarFromHome(threshold, player): """ Returns true if LOC thinks we're more than *distance* away from our home position """ if player.brain.ball.vis.frames_off < 10: ball = player.brain.ball elif player.brain.sharedBall.ball_on: ball = player.brain.sharedBall else: ball = None home = player.homePosition if ball != None: if role.isLeftDefender(player.role): home = findDefenderHome(True, ball, player.homePosition.h) elif role.isRightDefender(player.role): home = findDefenderHome(False, ball, player.homePosition.h) elif role.isStriker(player.role): home = findStrikerHome(ball, player.homePosition.h) else: home = player.homePosition distance = ((player.brain.loc.x - home.x) ** 2 + (player.brain.loc.y - home.y) ** 2) ** 0.5 return distance > threshold
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)