def calc_block_point(self):
ball_pos = self.bb.ball_global
if self.bb.parameters.attackRight:
goal = VecPos(-550, 0)
else:
goal = VecPos(550, 0)
# goal.x *= -1
theta = degree_to_radian(degree_between(goal, ball_pos))
block_point = VecPos()
block_point.x = ball_pos.x - AVOID_DIS * 1.5 * cos(theta)
block_point.y = ball_pos.y - AVOID_DIS * 1.5 * sin(theta)
block_point.z = degrees(theta)
return block_point
def calc_final_dest(enable_kick, ball_field, ball_global, target):
theta = angle_between(target, ball_global)
closer_to_left_foot = ball_field.y > 0
# FIXME(MWX): may blur
if not enable_kick or (not cfg.left_kick and not cfg.right_kick):
kick_point = closer_to_left_foot and cfg.left_kick_point or cfg.right_kick_point
else:
kick_point = cfg.left_kick and cfg.left_kick_point or cfg.right_kick_point
res = VecPos()
res.x = ball_global.x + kick_point.x * cos(theta)
res.y = ball_global.y + kick_point.x * sin(theta)
theta2 = angle_between(target, res)
res.z = degrees(theta2 + PI)
return res
