protected void GoToPosition(float x, float y)
{
var seenCoachObject = m_coach.GetMyPos(PlayerNumber);
if (seenCoachObject == null)
{
return;
}
var pos = seenCoachObject.Pos;
var angel = GetAngleToPoint(new PointF(x, y), seenCoachObject);
if (Math.Abs(angel) > 10)
{
m_robot.Turn(angel);
}
else
{
var dis = LogicCalc.GetDistance(x, y, pos.Value.X, pos.Value.Y);
float power = (float)10 * (float)dis;
if (power > 70)
{
power = 70;
}
m_robot.Dash(power);
}
}
public Dictionary <string, double> GetNymberOfNerestPlayers()
{
var myPlayers = m_coach.GetMyPlayers(m_number);
var ball = m_coach.GetBall();
var dic = new Dictionary <string, double>();
foreach (var myPlayer in myPlayers)
{
var dis = LogicCalc.GetDistance(myPlayer.Pos.Value, ball.Pos.Value);
dic.Add(myPlayer.Name, dis);
}
return(dic);
}
private void GoToPositionOneStep(float x, float y)
{
var seenCoachObject = m_coach.GetMyPos(PlayerNumber);
while (seenCoachObject == null)
{
m_memory.waitForNewInfo();
seenCoachObject = m_coach.GetMyPos(PlayerNumber);
}
var pos = seenCoachObject.Pos;
var angel = LogicCalc.GetAngleBetweenTwoPoints(pos.Value.X, pos.Value.Y, x, y);
m_robot.Turn((double)(angel + seenCoachObject.BodyAngle) % 360);
bool isInPos = false;
double?last_dis = null;
// while(!isInPos && !m_timeOver)
// {
/////
Console.WriteLine(pos.Value.X.ToString() + ", " + pos.Value.Y.ToString());
///
seenCoachObject = m_coach.GetMyPos(PlayerNumber);
pos = seenCoachObject.Pos;
var dis = LogicCalc.GetDistance(x, y, pos.Value.X, pos.Value.Y);
System.Console.WriteLine($"{dis}");
if (last_dis != null)
{
angel = LogicCalc.GetAngleBetweenTwoPoints(pos.Value.X, pos.Value.Y, x, y);
if (Math.Abs((double)(angel - seenCoachObject.BodyAngle)) > 10)
{
m_robot.Turn((double)(angel - seenCoachObject.BodyAngle));
}
else if (dis > last_dis.Value)
{
m_robot.Turn((double)(angel + seenCoachObject.BodyAngle) % 360);
}
}
last_dis = dis;
if (dis < 1.5)
{
return;
}
m_robot.Dash(100);
m_memory.waitForNewInfo();
//}
}
public bool NeedToPass()
{
var myPlayer = m_coach.GetMyPos(m_number);
var opponentPlayers = m_coach.GetOpponentPlayers();
int num = 0;
int attcker2;
if (m_number == 1)
{
attcker2 = 2;
}
else
{
attcker2 = 1;
}
var attcker2Pos = m_coach.GetMyPos(attcker2);
if (attcker2Pos != null)
{
var dist = LogicCalc.GetDistance(myPlayer.Pos.Value, attcker2Pos.Pos.Value);
if (dist < 10)
{
return(false);
}
if (attcker2Pos.Pos.Value.X < myPlayer.Pos.Value.X)
{
return(false); //Pass only Fwd
}
}
foreach (var opponentPlayer in opponentPlayers)
{
var dis = LogicCalc.GetDistance(myPlayer.Pos.Value, opponentPlayer.Pos.Value);
if (dis < 10)
{
num += 1;
if (num >= 2)
{
return(true);
}
}
}
return(num >= 2);
}
public Dictionary <string, double> GetNymberOfNerestPlayers(float r)
{
var myPlayers = m_coach.GetMyPlayers(m_number);
var opponentPlayers = m_coach.GetOpponentPlayers();
var dic = new Dictionary <string, double>();
foreach (var myPlayer in myPlayers)
{
dic.Add(myPlayer.Name, 0);
foreach (var opponentPlayer in opponentPlayers)
{
var dis = LogicCalc.GetDistance(myPlayer.Pos.Value, opponentPlayer.Pos.Value);
if (dis < r)
{
dic[myPlayer.Name] += 1;
}
}
}
return(dic);
}
public PointF GetNerestPlayerInMyBoarder()
{
var myPlayers = m_coach.GetOpponentPlayers();
var me = m_coach.GetMyPos(m_number);
PointF minPos = m_startPosition;
double dis = double.MinValue;
foreach (var player in myPlayers)
{
if (m_borders.IsInBorders(player.Pos.Value))
{
var disTemp = LogicCalc.GetDistance(player.Pos.Value, me.Pos.Value);
if (disTemp < dis)
{
dis = disTemp;
minPos = player.Pos.Value;
}
}
}
return(minPos);
}
public override PointF GetNextPlayerToPass(out double distance)
{
//
int attcker2;
if (m_number == 1)
{
attcker2 = 2;
}
else
{
attcker2 = 1;
}
var myPlayer = m_coach.GetMyPos(m_number);
var attcker2Pos = m_coach.GetMyPos(attcker2);
if (attcker2Pos != null)
{
distance = LogicCalc.GetDistance(myPlayer.Pos.Value, attcker2Pos.Pos.Value);
return(attcker2Pos.Pos.Value);
}
else
{
var nib = GetNymberOfNerestPlayers(20);
var dis = GetNymberOfNerestPlayers();
var name1 = dis.FirstOrDefault(x => x.Value == dis.Values.Min()).Key;
var dis1 = dis[name1];
dis.Remove(name1);
var name2 = dis.FirstOrDefault(x => x.Value == dis.Values.Min()).Key;
var dis2 = dis[name2];
var pos = m_coach.GetPlayer(nib[name1] < nib[name2] ? name1 : name2);
distance = nib[name1] < nib[name2] ? dis1 : dis2;
return(pos.Pos.Value);
}
}
public override void play()
{
float sideFactor = 1;
if (m_side == 'r')
{
m_borders.chageSide((float)-1); //fix borders acording to side
m_startPosition.X = m_startPosition.X * -1;
sideFactor = -1;
}
// First go to start position
GoToPosition(m_startPosition.X, m_startPosition.Y);
while (!m_timeOver)
{
try
{
//var memory = m_memory.getBodyInfo();
//if (memory != null)
// Console.WriteLine("PLayer: " + m_number + ", " + memory.StaminaValue);
// Get ball position from coach
var coachBall = m_coach.GetBall();
if (coachBall == null)
{
// No ball position
}
else
{
if (!m_borders.IsInBorders(coachBall.Pos.Value))
{
// Ball is not in borders
// Go To start position TODO: something else
//GoToPosition(m_startPosition.X, m_startPosition.Y);
if (m_side == 'l' && coachBall.Pos.Value.X > 10)
{
GoToPosition(m_startPosition.X + 15, m_startPosition.Y);
}
else if (m_side == 'r' && coachBall.Pos.Value.X < -10)
{
GoToPosition(m_startPosition.X - 15, m_startPosition.Y);
}
else
{
GoToPosition(m_startPosition.X, m_startPosition.Y);
}
}
else
{
var bodyInfo = GetBodyInfo();
var myBall = m_memory.GetSeenObject("ball");
if (myBall == null)
{
// If you don't know where is ball then find it
var angel = GetAngleToPoint(coachBall.Pos.Value);
m_robot.Turn(angel);
}
else if (myBall.Distance.Value > 1.3)
{
// If ball is too far then
// turn to ball or
// if we have correct direction then go to ball
//if (obj.Direction.Value != 0)
if (myBall.Direction.Value > 20)
{
m_robot.Turn(myBall.Direction.Value);
}
else
{
m_robot.Dash(10 * myBall.Distance.Value);
}
}
else
{
float Gx;
float Gy = 0;
if (m_side == 'l')
{
Gx = FieldLocations.LeftLine;
}
else
{
Gx = FieldLocations.RightLine;
}
var myPos = m_coach.GetMyPos(m_number);
var dis = LogicCalc.GetDistance(Gx, Gy, myPos.Pos.Value.X, myPos.Pos.Value.Y);
// We know where is ball and we can kick it
// so look for goal
if (m_side == 'l')
{
if (dis > 25)
{
if (NeedToPass())
{
var p = GetNextPlayerToPass(out double distance);
float powerPass = 100;
if (distance >= 20)
{
powerPass = 100;
}
else
{
powerPass = ((float)distance / 20) * 100;
}
Kick(p.X, p.Y, powerPass);
}
else
{
Kick(FieldLocations.RightLine, 0, 20); // TODO: kick forward
}
}
else
{
double angel = ShotToGoal();
m_robot.Kick(100, angel);
//Kick(FieldLocations.LeftLine, 0, 100); // TODO: kick to angel
}
}
else
{
if (dis > 25)
{
if (NeedToPass())
{
var p = GetNextPlayerToPass(out double distance);
float powerPass = 100;
if (distance >= 20)
{
powerPass = 100;
}
else
{
powerPass = ((float)distance / 20) * 100;
}
Kick(p.X, p.Y, powerPass);
}
else
{
Kick(FieldLocations.LeftLine, 0, 20); // TODO: kick forward
}
}
else
{
double angel = ShotToGoal();
m_robot.Kick(100, angel);
//Kick(FieldLocations.LeftLine, 0, 100); // TODO: kick to angel
}
}
}
}
}
}
catch (Exception e)
{
}
// sleep one step to ensure that we will not send
// two commands in one cycle.
try
{
Thread.Sleep(2 * SoccerParams.simulator_step);
}
catch (Exception e)
{
}
} // play()
}
public override void play()
{
SeenCoachObject last_ball_pos = null;
float goalLine;
if (m_side == 'l')
{
goalLine = FieldLocations.LeftLine;
}
else
{
goalLine = FieldLocations.RightLine;
}
SeenObject obj;
while (!m_timeOver)
{
try
{
// Get ball position from coach
var coachBall = m_coach.GetBall();
if (coachBall == null)
{
// No ball position
GoToPosition(goalLine, (float)0);
}
else
{
last_ball_pos = coachBall;
if (!m_borders.IsInBorders(coachBall.Pos.Value))
{
// Ball is not in borders
var disAB = LogicCalc.GetDistance(last_ball_pos.Pos.Value.X, last_ball_pos.Pos.Value.Y, goalLine, (float)7);
var disAC = LogicCalc.GetDistance(last_ball_pos.Pos.Value.X, last_ball_pos.Pos.Value.Y, goalLine, (float)-7);
var yGK_Pos = 7 - ((14 * (disAB / disAC)) / (1 + (disAB / disAC)));
GoToPosition(goalLine, (float)yGK_Pos);
}
else
{
obj = m_memory.GetSeenObject("ball");
if (obj == null)
{
// If you don't know where is ball then find it
var ball = m_coach.GetBall();
if (ball != null)
{
var angel = GetAngleToPoint(ball.Pos.Value);
m_robot.Turn(angel);
}
else
{
m_robot.Turn(40);
}
m_memory.waitForNewInfo();
}
else if (obj.Distance.Value > 1.3)
{
// If ball is too far then
// turn to ball or
// if we have correct direction then go to ball
//if (obj.Direction.Value != 0)
if (obj.Direction.Value > 20)
{
m_robot.Turn(obj.Direction.Value);
}
else
{
m_robot.Dash(20 * obj.Distance.Value);
}
}
else
{
// We know where is ball and we can kick it
// so look for goal
var p = GetNextPlayerToPass(out double distance);
float powerPass = 100;
if (distance >= 20)
{
powerPass = 100;
}
else
{
powerPass = ((float)distance / 20) * 100;
}
Kick(p.X, p.Y, powerPass);
//if (m_side == 'l')
//{
// obj = m_memory.GetSeenObject("goal r");
// var pos = GetNextPlayerToPass();
// Kick(pos.X, pos.Y, 100);
//}
//else
//{
// obj = m_memory.GetSeenObject("goal l");
// var pos = GetNextPlayerToPass();
// Kick(pos.X, pos.Y, 100);
//}
}
}
}
}
catch (Exception e)
{
}
// sleep one step to ensure that we will not send
// two commands in one cycle.
try
{
Thread.Sleep(2 * SoccerParams.simulator_step);
}
catch (Exception e)
{
}
}
// //////////////////////////////////////////////////////////
// var ball_info = m_coach.GetBall();
//if (ball_info != null)
//{
// last_ball_pos = ball_info;
// m_memory.waitForNewInfo();
//}
////triangle ABC: A is the ball, BC is goal
//if (!m_borders.IsInBorders(last_ball_pos.Pos.Value))
//{
// var disAB = LogicCalc.GetDistance(last_ball_pos.Pos.Value.X, last_ball_pos.Pos.Value.Y, goalLine, (float)7);
// var disAC = LogicCalc.GetDistance(last_ball_pos.Pos.Value.X, last_ball_pos.Pos.Value.Y, goalLine, (float)-7);
// var yGK_Pos = 7 - ((14 * (disAB / disAC)) / (1 + (disAB / disAC)));
// GoToPosition(FieldLocations.LeftLine, (float)yGK_Pos);
//}
//if (ball_info != null)
//{
// //var dis = LogicCalc.GetDistance(ball_info.Pos.Value.X, ball_info.Pos.Value.Y, FieldLocations.LeftLine, (float)yGK_Pos);
// //if (dis < 1.5)
// //{
// // //Kick(0,0,100);
// // m_robot.Kick(100, 45);
// //}
// obj = m_memory.GetSeenObject("ball");
// if (obj == null)
// {
// // If you don't know where is ball then find it
// var ball = m_coach.GetBall();
// if (ball != null)
// {
// var angel = GetAngleToPoint(ball.Pos.Value);
// m_robot.Turn(angel);
// }
// else
// {
// m_robot.Turn(40);
// }
// m_memory.waitForNewInfo();
// }
// else if (obj.Distance.Value > 1.3)
// {
// // If ball is too far then
// // turn to ball or
// // if we have correct direction then go to ball
// //if (obj.Direction.Value != 0)
// if (obj.Direction.Value > 20)
// m_robot.Turn(obj.Direction.Value);
// else
// m_robot.Dash(20 * obj.Distance.Value);
// }
// else
// {
// // We know where is ball and we can kick it
// // so look for goal
// var p = GetNextPlayerToPass(out double distance);
// float powerPass = 100;
// if (distance >= 20) powerPass = 100;
// else powerPass = ((float)distance / 20) * 100;
// Kick(p.X, p.Y, powerPass);
// //if (m_side == 'l')
// //{
// // obj = m_memory.GetSeenObject("goal r");
// // var pos = GetNextPlayerToPass();
// // Kick(pos.X, pos.Y, 100);
// //}
// //else
// //{
// // obj = m_memory.GetSeenObject("goal l");
// // var pos = GetNextPlayerToPass();
// // Kick(pos.X, pos.Y, 100);
// //}
// }
//}
}