private static bool isOutsideOfField(PointMass player, RectangleF field)
{
if (player.Position.Y > field.Top && player.Position.Y < field.Bottom && player.Position.X > field.Left && player.Position.X < field.Right)
return false;
else
return true;
}
/// <summary>
/// Move toward a target's future position. This method assumes the player will move at their maximum speed. It also
/// ignores friction on the target.
/// </summary>
/// <param name="player"></param>
/// <param name="target"></param>
/// <returns></returns>
public static Vector2 Pursue(PointMass player, PointMass target)
{
// Calculate the time till intersection.
// We want to move the perpendicular distance between the player and the target in the same amount of time to move the parallel distance to the estimated intersection point.
// Formulas:
// t = perpDist / Vy
// Vx * t = initialParallelDist + Ball.ParallelVelocity * t (ignores friction)
// => Vx * perpDist / Vy = initialParallelDist + Ball.ParallelVelocity * perpDist / Vy
// => Vx * perpDist = initialParallelDist * Vy + Ball.ParallelVelocity * perpDist
// => Vx = initialParallelDist * Vy / perpDist + Ball.ParallelVelocity
// player.MaxSpeed ^2 = Vx^2 + Vy^2
// => player.MaxSpeed ^2 = (initialParallelDist * Vy / perpDist + Ball.ParallelVelocity)^2 + Vy^2
// => lolno (keep these equations for future reference)
// We can solve for Vy/Vx together, this is equal to tan(theta)
// The above boils down to:
// (1/Ball.ParallelVelocity)^2 = (initialParallelDist/(perpDist*Ball.ParallelVelocity))^2 * t^2 - 2*initialParallelDist/(perpDist * Ball.ParallelVelocity^2) = 1/maxSpeed^2 + t^2/maxSpeed^2
// NOTE t is not time, it is Vy/Vx
// Just solve this for t
// https://www.wolframalpha.com/input/?i=t%5E2(d%5E2%2F(y%5E2*b%5E2)+-+1%2Fm%5E2)+-+2*d*t%2F(y*b%5E2)+%2B+1%2Fb%5E2+-+1%2Fm%5E2+%3D+0+solve+for+t
// => t = (sqrt(b^2 y^2 (y^2 (m^2-b^2)+d^2 m^2))+d m^2 y)/(d^2 m^2-b^2 y^2) if d^2 m^2!=b^2 y^2
// => t = (sqrt(b^2 y^2 (y^2 (m^2-b^2)+d^2 m^2))-d m^2 y)/(b^2 y^2-d^2 m^2) if d^2 m^2!=b^2 y^2
// NOTE t is not time, it is Vy/Vx
// The final angle we want to travel towards is:
// tan-1(t)
return Vector2.Zero;
}
public static Simulation Create2V2Simulation()
{
const float w = 1000;
const float h = 500;
const float goalW = w / 20;
const float goalH = h / 4;
const float mass = 1;
const float radius = 7.5f;
const float maxForce = 100;
const float maxSpeed = 100;
var team1Players = new PointMass[5];
var team2Players = new PointMass[5];
for (var j = 0; j < 5; j++)
{
team1Players[j] = new PointMass(mass, radius, maxForce, maxSpeed,
new Vector2(-w / 4 + w / 2 + (j % 2 != 0 ? 100 : 0), -h / 4 + j * h / 8), Vector2.Zero);
team2Players[j] = new PointMass(mass, radius, maxForce, maxSpeed,
new Vector2(-w / 4 + (j % 2 != 0 ? -100 : 0), -h / 4 + j * h / 8), Vector2.Zero);
team1Players[j].id = "A" + j;
team2Players[j].id = "B" + j;
}
var pitch = new RectangleF(-w / 2, -h / 2, w, h);
var team1Goal = new RectangleF(-w / 2 - goalW, -goalH / 2, goalW, goalH);
var team2Goal = new RectangleF(w / 2, -goalH / 2, goalW, goalH);
var team1 = new KeepawayTeam(new ReadOnlyCollection<PointMass>(team1Players), team1Goal);
var team2 = new KeepawayTeam(new ReadOnlyCollection<PointMass>(team2Players), team2Goal);
var ball = new PointMass(1, 2.5f, 100000, 100, new Vector2(0, 0), Vector2.Zero);
return new Simulation(new ReadOnlyCollection<Team>(new Team[] { team1, team2 }), ball, pitch, 10);
}
/// <summary>
/// </summary>
/// <param name="player"></param>
/// <param name="team"></param>
/// <param name="otherTeam"></param>
/// <param name="simulation"></param>
/// <param name="passingLaneWidth"></param>
/// <returns></returns>
public static IEnumerable<IPointMass> GetOpenPlayers(
PointMass player,
ITeam team,
ITeam otherTeam,
ISimulation simulation,
float passingLaneWidth)
=> from p in team.Players
where p != player && IsPlayerOpenForPass(player, p, otherTeam.Players, passingLaneWidth)
select p;
public override Kick Execute(ISimulation simulation)
{
var ballChaser = FootballStrategies.ClosestPlayerToPoint(this.Players, simulation.Ball, 0);
var kick = Kick.None;
foreach (var player in Players)
{
if (player == ballChaser)
{
//messages[player] = "Chaser";
var playersExceptSelf = Players.ToList();
playersExceptSelf.Remove(player);
player.Force = SteeringStrategies.Pursue(player, simulation.Ball, 1);
if ((player.Position - simulation.Ball.Position).Length() < player.Radius + simulation.Ball.Radius) {
var isLeftTeam = this.GoalBounds.Left > 0 ? true : false;
PointMass[] arr = new PointMass[7];
playersExceptSelf.CopyTo(arr, 0);
arr[4] = new PointMass(1, 1, 1, 1, new Vector2(isLeftTeam ? this.GoalBounds.Left : this.GoalBounds.Right, this.GoalBounds.Top + (0.2f) * this.GoalBounds.Height), Vector2.Zero);
arr[5] = new PointMass(1, 1, 1, 1, new Vector2(isLeftTeam ? this.GoalBounds.Left : this.GoalBounds.Right, this.GoalBounds.Top + (0.5f) * this.GoalBounds.Height), Vector2.Zero);
arr[6] = new PointMass(1, 1, 1, 1, new Vector2(isLeftTeam ? this.GoalBounds.Left : this.GoalBounds.Right, this.GoalBounds.Top + (0.8f) * this.GoalBounds.Height), Vector2.Zero);
arr[4].id = "GT";
arr[5].id = "GM";
arr[6].id = "GB";
ReadOnlyCollection<PointMass> roc = new ReadOnlyCollection<PointMass>(arr);
Vector2 middleOfGoal = new Vector2(isLeftTeam ? this.GoalBounds.Left : this.GoalBounds.Right, this.GoalBounds.Top - (0.5f) * this.GoalBounds.Height);
IPointMass kickTarget = ClosestPlayerToPoint(roc, player, 1, middleOfGoal);
messages[player] = "Chaser T: " + kickTarget.id;
k = kick = FootballStrategies.PassToPlayer(player, kickTarget, simulation.Ball);
} else
k = kick = Kick.None;
}
else
{
messages[player] = isOutsideOfField(player, simulation.PitchBounds) ? "Outside" : "inside";
var allPlayers = simulation.Teams[0].Players.Concat(simulation.Teams[1].Players);
if (isOutsideOfField(player, simulation.PitchBounds))
player.Force = SteeringStrategies.Seek(player, Vector2.Zero, player.MaxSpeed);
else
FootballStrategies.SpreadOut(player, allPlayers, simulation.PitchBounds, 150, 100);
}
}
return kick;
}
/// <summary>
/// Initializes a new instance of the <see cref="Simulation" /> class.
/// </summary>
/// <param name="teams">The teams to be played against each other.</param>
/// <param name="ball">The ball.</param>
/// <param name="pitchBounds">The pitch boundaries.</param>
/// <param name="friction">The friction coefficient.</param>
public Simulation(ReadOnlyCollection<Team> teams, PointMass ball, RectangleF pitchBounds, float friction)
{
Contract.Requires<ArgumentNullException>(teams != null);
Contract.Requires<ArgumentNullException>(ball != null);
Contract.Requires<ArgumentException>(friction >= 0);
Contract.Requires<ArgumentException>(pitchBounds.Width > 0 && pitchBounds.Height > 0);
Contract.Requires<ArgumentException>(Contract.ForAll(teams, t => t != null && t.IsValid(pitchBounds)));
Contract.Requires<ArgumentException>(pitchBounds.Contains(ball.Position));
_simulate = SimulatePlaying;
_teams = teams;
_startingPositions = from t in teams select t.PlayerPositions;
_ball = ball;
_ballStartingPosition = ball.Position;
PitchBounds = pitchBounds;
Friction = friction;
}
/// <summary>
/// Initializes a new instance of the <see cref="Simulation" /> class.
/// </summary>
/// <param name="teams">The teams to be played against each other.</param>
/// <param name="ball">The ball.</param>
/// <param name="pitchBounds">The pitch boundaries.</param>
/// <param name="friction">The friction coefficient.</param>
public Simulation(ReadOnlyCollection<Team> teams, PointMass ball, RectangleF pitchBounds, float friction)
{
Contract.Requires<ArgumentNullException>(teams != null);
Contract.Requires<ArgumentNullException>(ball != null);
Contract.Requires<ArgumentException>(friction >= 0);
Contract.Requires<ArgumentException>(pitchBounds.Width > 0 && pitchBounds.Height > 0);
Contract.Requires<ArgumentException>(Contract.ForAll(teams, t =>
t != null &&
pitchBounds.IntersectsOrBorders(t.GoalBounds) &&
t.Players.All(p => pitchBounds.Contains(p.Position))));
Contract.Requires<ArgumentException>(pitchBounds.Contains(ball.Position));
_simulate = SimulatePlaying;
_teams = teams;
_startingPositions = (from t in teams select (from p in t.Players select p.Position).ToList().AsReadOnly()).ToList().AsReadOnly();
_ball = ball;
_ballStartingPosition = ball.Position;
PitchBounds = pitchBounds;
Friction = friction;
}
/// <summary>
/// </summary>
/// <param name="player"></param>
/// <param name="target"></param>
/// <param name="desiredSpeed"></param>
/// <returns></returns>
public static Vector2 FleeNormalized(PointMass player, Vector2 target, float desiredSpeed)
=> Vector2.Normalize(Flee(player, target, desiredSpeed));
/// <summary>
/// Move away from a specified position.
/// </summary>
/// <param name="player"></param>
/// <param name="target"></param>
/// <param name="desiredSpeed"></param>
/// <returns></returns>
public static Vector2 Flee(PointMass player, Vector2 target, float desiredSpeed)
{
var desiredVelocity = Vector2.Normalize(target - player.Position).ClampMagnitude(desiredSpeed);
return desiredVelocity - player.Velocity;
}
/// <summary> /// Move away from a target's future position. /// </summary> /// <param name="player"></param> /// <param name="target"></param> /// <returns></returns> public static Vector2 Evade(PointMass player, PointMass target) => Vector2.Zero;
/// <summary>
/// </summary>
/// <param name="player"></param>
/// <param name="allPlayers"></param>
/// <param name="pitchBounds"></param>
/// <param name="playerOverlapRadius"></param>
/// <param name="edgeOverlapRadius"></param>
public static void SpreadOut(
PointMass player,
IEnumerable<IPointMass> allPlayers,
RectangleF pitchBounds,
float playerOverlapRadius,
float edgeOverlapRadius)
{
var v = (from otherPlayer in allPlayers
where player != otherPlayer
select player.Position - otherPlayer.Position
into between
where between.Length() < playerOverlapRadius
select between).Aggregate(Vector2.Zero, (current, between) => current + Vector2.Normalize(between));
var force = Vector2.Normalize(v)*10;
var stoppingForce = -player.Velocity;
force = v.Length() > 0 ? force : stoppingForce;
if (Math.Abs(player.Position.X - pitchBounds.X) < edgeOverlapRadius && player.Velocity.X < 0)
force = new Vector2(-player.Velocity.X, force.Y);
if (Math.Abs(player.Position.X - pitchBounds.Right) < edgeOverlapRadius && player.Velocity.X > 0)
force = new Vector2(-player.Velocity.X, force.Y);
if (Math.Abs(player.Position.Y - pitchBounds.Y) < edgeOverlapRadius && player.Velocity.Y < 0)
force = new Vector2(force.X, -player.Velocity.Y);
if (Math.Abs(player.Position.Y - pitchBounds.Bottom) < edgeOverlapRadius && player.Velocity.Y > 0)
force = new Vector2(force.X, -player.Velocity.Y);
player.Force = force;
}
