protected float GetDistanceFrom(PointF point)
{
SeenCoachObject myObj = GetCurrPlayer();
var distance = Utils.Distance(point, myObj.Pos.Value);
return(distance);
}
public SeenCoachObject GetSeenCoachObject(string name)
{
SeenCoachObject result = null;
var obj = m_seenCoachObjects.TryGetValue(name, out result);
return(result);
}
public PlayersData GetPlayersFullData(SeenCoachObject me)
{
var status = GetPlayersData();
PlayersData ret = new PlayersData()
{
MyPlayers = new Dictionary <SeenCoachObject, PlayerData>(),
OpponentPlayers = new Dictionary <SeenCoachObject, PlayerData>()
};
foreach (var player in status.MyPlayers)
{
ret.MyPlayers.Add(player, new PlayerData()
{
Angle = GetAngle(me, player),
Distance = GetDistance(me, player),
DistanceFromBall = GetDistanceFromBall(player)
});
}
foreach (var player in status.OpponentPlayers)
{
ret.OpponentPlayers.Add(player, new PlayerData()
{
Angle = GetAngle(me, player),
Distance = GetDistance(me, player),
DistanceFromBall = GetDistanceFromBall(player)
});
}
return(ret);
}
private void KickOrMoveWithBall(SeenCoachObject player, double power, double distanceToBall, double directiontoGoal, SeenCoachObject ball)
{
if (Math.Abs(distanceToBall) < 10 && Math.Abs(player.BodyAngle.Value) > 95)
{
PointF point = new PointF()
{
X = ball.Pos.Value.X,
Y = ball.Pos.Value.Y + 10
};
goToCoordinate(point, 0);
}
else if (NearBoal(distanceToBall))
{
if (Math.Abs(player.BodyAngle.Value) > 95)
{
m_robot.Kick(-30, directiontoGoal);
}
else
{
m_robot.Kick(power, directiontoGoal);
}
}
else
{
goToCoordinate(ball.Pos.Value, DistFromBallToKick);
}
}
private void SetGaol()
{
string goalStr = (m_side == 'l') ? "goal r" : "goal l";
while (goal == null)
{
goal = m_coach.GetSeenCoachObject(goalStr);
}
}
public double GetAngleToPoint(PointF targetPoint, SeenCoachObject myPosByCoach)
{
var angleToTarget = Calc2PointsAngleByXAxis(myPosByCoach.Pos.Value, targetPoint);
var myAbsAngle = myPosByCoach.BodyAngle;
var turnAngle = -1 * (Convert.ToDouble(myAbsAngle) + angleToTarget);
var fixedAngle = NormalizeTo180(turnAngle);
return(turnAngle);
}
private bool CheckBallInMyHalf(SeenCoachObject ball)
{
if (m_side == 'r')
{
return(ball.Pos.Value.X >= 0);
}
else
{
return(ball.Pos.Value.X <= 0);
}
}
public virtual int FindPlayerClosestToTheBall()
{
SeenCoachObject ballPosByCoach = null;
SeenCoachObject objPlayer = null;
double Distance = -1;
double CurrentDistance = -1;
string player = "player ";
int playerListNum = 0;
int ClosestPlayerToTheBall = -1;
var PlayersList = m_coach.GetSeenCoachObjects().Where(kvp => kvp.Value.Name.Contains(m_team.m_teamName)).ToList();
if (PlayersList.Count > 2)
{
return(0);
}
Object thisLock = new Object();
lock (thisLock)
{
for (int i = 0; i < PlayersList.Count; i++)
{
playerListNum = i + 1;
ballPosByCoach = m_coach.GetSeenCoachObject("ball");
Double BallX = ballPosByCoach.Pos.Value.X;
Double BallY = ballPosByCoach.Pos.Value.Y;
objPlayer = m_coach.GetSeenCoachObject(player + m_team.m_teamName + " " + playerListNum.ToString());
Double PlayerX = objPlayer.Pos.Value.X;
Double PlayerY = objPlayer.Pos.Value.Y;
CurrentDistance = Math.Sqrt(Math.Pow(PlayerX - BallX, 2) + Math.Pow(PlayerY - BallY, 2));
if (i == 1)
{
Distance = CurrentDistance;
ClosestPlayerToTheBall = i;
}
else if (CurrentDistance < Distance)
{
Distance = CurrentDistance;
ClosestPlayerToTheBall = i;
}
}
}
return(ClosestPlayerToTheBall);
}
public virtual int FindAtackerClosestToTheBall()
{
SeenCoachObject ballPosByCoach = null;
SeenCoachObject Player = null;
double Distance = -1;
double CurrentDistance = -1;
int playerListNum = 0;
int ClosestPlayerToTheBall = -1;
var PlayersList = m_coach.GetSeenCoachObjects().Where(kvp => kvp.Value.Name.Contains(m_team.m_teamName)).ToList();
if (PlayersList.Count < 2)
{
return(0);
}
Object thisLock = new Object();
lock (thisLock)
{
for (int i = 0; i < 2; i++)
{
playerListNum = i + 1;
Player = m_coach.GetSeenCoachObject($"player {m_team.m_teamName} {playerListNum}");
ballPosByCoach = m_coach.GetSeenCoachObject("ball");
Double BallX = ballPosByCoach.Pos.Value.X;
Double BallY = ballPosByCoach.Pos.Value.Y;
Double PlayerX = Player.Pos.Value.X;
Double PlayerY = Player.Pos.Value.Y;
CurrentDistance = Math.Sqrt(Math.Pow(PlayerX - BallX, 2) + Math.Pow(PlayerY - BallY, 2));
if (i == 0)
{
Distance = CurrentDistance;
ClosestPlayerToTheBall = 1;
}
else if (CurrentDistance < Distance)
{
Distance = CurrentDistance;
ClosestPlayerToTheBall = i + 1;
}
}
}
return(ClosestPlayerToTheBall);
}
public double GetAngle(SeenCoachObject me, SeenCoachObject player)
{
var angle = Math.Atan2(me.Pos.Value.Y - player.Pos.Value.Y, me.Pos.Value.X - player.Pos.Value.X) * 180 / Math.PI - me.BodyAngle.Value;
if (angle > 180)
{
angle -= 360;
}
if (angle < -180)
{
angle += 360;
}
return(angle);
}
private void Kick(SeenCoachObject player, SeenCoachObject ball, double distanceToBall)
{
SetGaol();
var distanceToGate = GetDistanceToPoint(goal.Pos.Value);
var directiontoGoal = GetAngleToPoint(goal.Pos.Value);
var angleToGoal = GetAngleToPoint(ball.Pos.Value);
if (distanceToGate < 18)
{
KickOrMoveWithBall(player, 100, distanceToBall, directiontoGoal, ball);
}
else
{
KickOrMoveWithBall(player, 30, distanceToBall, directiontoGoal, ball);
}
}
public SeenCoachObject GetNearestPlayerAvialible(SeenCoachObject me)
{
PlayersData dic = GetPlayersFullData(me);
PlayerData best_player_data = new PlayerData();
best_player_data.Angle = 0;
best_player_data.Distance = 100;
SeenCoachObject best_player_obj = me;
foreach (var p in dic.MyPlayers)
{
if (p.Value.Distance > 0.5 && p.Value.Distance < best_player_data.Distance && PlayerAvialible(p.Value.Angle, dic.OpponentPlayers))
{
best_player_data = p.Value;
best_player_obj = p.Key;
}
}
return(best_player_obj);
}
public bool CheckQuerter(Quarter quarter, SeenCoachObject obj)
{
int XBOUNDRY = -20;
bool result = false;
switch (quarter)
{
case Quarter.LeftUp:
if ((obj.Pos.Value.X) <= XBOUNDRY && (obj.Pos.Value.X) >= -50 &&
(obj.Pos.Value.Y) <= 0 && (obj.Pos.Value.Y) >= -30)
{
result = true;
}
break;
case Quarter.LeftDown:
if ((obj.Pos.Value.X) <= XBOUNDRY && (obj.Pos.Value.X) >= -50 &&
(obj.Pos.Value.Y) >= 0 && (obj.Pos.Value.Y) <= 30)
{
result = true;
}
break;
case Quarter.RightUp:
if ((obj.Pos.Value.X) >= XBOUNDRY && (obj.Pos.Value.X) <= 50 &&
(obj.Pos.Value.Y) <= 0 && (obj.Pos.Value.Y) >= -30)
{
result = true;
}
break;
case Quarter.RightDown:
if ((obj.Pos.Value.X) >= XBOUNDRY && (obj.Pos.Value.X) <= 50 &&
(obj.Pos.Value.Y) >= 0 && (obj.Pos.Value.Y) <= 30)
{
result = true;
}
break;
}
return(result);
}
private void ParseLookMessage(string message)
{
if (!message.StartsWith("(ok look"))
{
return;
}
var objectsMatch = Regex.Matches(message, MagicPattern);
var tmpDictionary = new Dictionary <String, SeenCoachObject>();
for (int i = 0; i < objectsMatch.Count; i++)
{
var obj = objectsMatch[i];
var innerObjects = obj.Value.Split(')');
var name = innerObjects[0].Substring(2);
var parameters = innerObjects[1].Substring(1).Split(' ');
var floatParams = parameters.Select(strParam => float.Parse(strParam)).ToArray();
var seenObject = new SeenCoachObject(name, floatParams);
tmpDictionary.Add(name, seenObject);
}
m_seenCoachObjects = tmpDictionary;
}
public float CalcAngleToPoint(PointF point)
{
SeenCoachObject myObj = GetCurrPlayer();
var myAngle = myObj.BodyAngle.Value;
var xp = myObj.Pos.Value.X;
var yp = myObj.Pos.Value.Y;
float deltaY = point.Y - yp;
float deltaX = point.X - xp;
if (deltaX == 0) // Prevent division by 0
{
deltaX += 0.001f;
}
float alphaPlayerToTargetRad = (float)Math.Atan(deltaY / deltaX);
float alphaPlayerToTarget = Utils.RadToDeg(alphaPlayerToTargetRad);
float relAngle = 0;
if ((deltaY > 0 && deltaX > 0) || (deltaY < 0 && deltaX > 0)) // alpha > 0
{
relAngle = -myAngle + alphaPlayerToTarget;
}
else // alpha < 0
{
relAngle = -myAngle - (180 - alphaPlayerToTarget);
}
relAngle = Utils.NormalizeAngle(relAngle);
// Correct the angle (for the case of deltaX ~ 0)
var absAngle = Utils.NormalizeAngle(myAngle + relAngle);
if ((deltaY > 0 && absAngle < 0) || (deltaY < 0 && absAngle > 0))
{
relAngle *= -1;
}
return(relAngle);
}
private PointF CalcRelativePossition(PointF ballPoint)
{
SeenCoachObject playerPossition = m_coach.GetSeenCoachObject("player " + m_team.m_teamName + " " + m_number);
if (m_side == 'l')
{
if (playerPossition.Pos.Value.X > ballPoint.X)
{
if (ballPoint.X - 2 < -57)
{
PointF opponentGoalPos = (PointF)FlagNameToPointF.Convert("flag l t");
ballPoint.X = -57;
}
else
{
ballPoint.X -= 2;
}
ballPoint.Y -= 5;
}
}
else
{
if (playerPossition.Pos.Value.X < ballPoint.X)
{
if (ballPoint.X + 2 > 57)
{
ballPoint.X = 57;
}
else
{
ballPoint.X += 2;
}
ballPoint.Y += 5;
}
}
return(ballPoint);
}
public static List <double> GetAllForbiddenAngle(SeenCoachObject myPos, List <System.Drawing.PointF> playetPos, GoalDirection goalDirection)
{
List <double> angels = new List <double>();
float GBx, GTx;
float GTy = FieldLocations.TopGoal;
float GBy = FieldLocations.ButtomGoal;
if (goalDirection == GoalDirection.Left)
{
GTx = FieldLocations.LeftLine;
GBx = FieldLocations.LeftLine;
}
else
{
GTx = FieldLocations.RightLine;
GBx = FieldLocations.RightLine;
}
var angle = GetAngleToPoint(myPos, GBx, GBy);
angels.Add(angle);
angle = GetAngleToPoint(myPos, GTx, GTy);
angels.Add(angle);
foreach (var point in playetPos)
{
if (isPointInTriangle(myPos.Pos.Value.X, myPos.Pos.Value.Y, GTx, GTy, GBx, GBy, point.X, point.Y))
{
angle = GetAngleToPoint(myPos, point.X, point.Y);
angels.Add(angle);
}
}
angels.Sort();
return(angels);
}
public override void play()
{
// first ,ove to start position
m_robot.Move(m_startPosition.X, m_startPosition.Y);
while (!m_timeOver)
{
Quarter quarter = m_side == 'l' ? Quarter.RightDown : Quarter.LeftUp;
Quarter q2 = m_side == 'l' ? Quarter.RightUp : Quarter.LeftDown;
var ballObj1 = m_coach.GetSeenCoachObject("ball");
if (CheckQuerter(quarter, ballObj1) || CheckQuerter(q2, ballObj1))
{
SeenObject ball = null;
SeenObject goal = null;
//Get current player's info:
var bodyInfo = GetBodyInfo();
Console.WriteLine($"Kicks so far : {bodyInfo.Kick}");
while (ball == null || ball.Distance > 1.5)
{
SeenCoachObject myPlayer = m_coach.GetSeenCoachObject($"player Brazil {m_number}");
//Get field information from god (coach).
m_memory.waitForNewInfo();
ball = m_memory.GetSeenObject("ball");
if (ball == null)
{
// If you don't know where is ball then find it
m_robot.Turn(40);
m_memory.waitForNewInfo();
}
else if (ball.Distance > 1.5)
{
// var player2 = m_coach.GetSeenCoachObject($"player Brazil 4");
// var ballobj = m_coach.GetSeenCoachObject("ball");
// if (Math.Abs(myPlayer.AngleTo(ballobj) - myPlayer.AngleTo(player2)) < 3)
//{
// var angleToBall = myPlayer.AngleToBallX(ballobj.Pos.Value.X, myPlayer.Pos.Value.Y);
// if (Math.Abs(angleToBall) > 0.5)
// {
// m_robot.Turn(angleToBall);
// }
// else
// {
// m_robot.Dash(50);
// }
//}
if (Math.Abs(ball.Direction.Value) > 0.7)
{
m_robot.Turn(ball.Direction.Value);
}
else
{
m_robot.Dash(120 * ball.Distance.Value);
}
}
}
// We know where is ball and we can kick it
// so look for goal
var goalstr = m_side == 'l' ? "goal r" : "goal l";
var angle = 10;
while (goal == null)
{
m_memory.waitForNewInfo();
goal = m_memory.GetSeenObject(goalstr);
if (goal == null)
{
m_robot.Turn(40);
}
}
var myPlayer2 = m_coach.GetSeenCoachObject($"player Brazil {m_number}");
var ballObj = m_coach.GetSeenCoachObject("ball");
var atk = myPlayer2.AngleToKick(ballObj);
if (Math.Abs(atk) > 120)
{
m_robot.Kick(7, 90);
}
//var player2 = m_coach.GetSeenCoachObject($"player Brazil 4");
//var coachGoalObject = m_coach.GetSeenCoachObject(goalstr);
//if (player2.DistanceTo(coachGoalObject) < myPlayer2.DistanceTo(coachGoalObject))
//{
// m_robot.Kick(20, myPlayer2.AngleToKick(player2));
//}
else
{
if (goal.Distance > 25)
{
m_robot.Kick(20, goal.Direction.Value);
}
else
{
m_robot.Kick(150, goal.Direction.Value + 12);
}
}
}
// sleep one step to ensure that we will not send
// two commands in one cycle.
try
{
Thread.Sleep(SoccerParams.simulator_step);
}
catch (Exception e)
{
}
}
}
public double GetDistanceFromBall(SeenCoachObject player)
{
var ball = GetSeenCoachObject("ball");
return(GetDistance(player, ball));
}
private void KickOrMoveWithBall(SeenCoachObject player, double power, double distanceToBall, double directiontoGoal, SeenCoachObject ball)
{
if (GetMyPlayerDetailsByCoach().Pos.Value.Y > 0)
{
directiontoGoal = GetAngleToOpponentGoalLow();
}
else
{
directiontoGoal = GetAngleToOpponentGoalUp();
}
var myBall = m_memory.GetSeenObject("ball");
//if (Math.Abs(distanceToBall) < 10)
//{
// if (myBall == null)
// {
// PointF point;
// if (m_side == 'l')
// {
// point = new PointF()
// {
// X = ball.Pos.Value.X,
// Y = ball.Pos.Value.Y + 10
// };
// }
// else
// {
// point = new PointF()
// {
// X = ball.Pos.Value.X + 3,
// Y = ball.Pos.Value.Y - 10
// };
// }
// goToCoordinate(point, 0);
// return;
// }
//}
if (NearBoal(distanceToBall))
{
bool isAhead = false;
if (m_side == 'l' && Math.Abs(player.BodyAngle.Value) > 45)
{
isAhead = true;
}
else if (m_side == 'r' && Math.Abs(player.BodyAngle.Value) < 45)
{
isAhead = true;
}
if (myBall == null || isAhead)
{
if (!SpinAroundBall())
{
return;
}
;
m_robot.Kick(power, directiontoGoal);
}
else
{
if (!SpinAroundBall())
{
return;
}
;
m_robot.Kick(power, directiontoGoal);
}
}
else
{
goToCoordinate(ball.Pos.Value, DistFromBallToKick);
}
}
public override void play()
{
MyGoal = m_coach.GetSeenCoachObject(m_side == 'l' ? "goal l" : "goal r");
float start_pos_x;
if (MyGoal != null)
{
var goal_x = MyGoal.Pos.Value.X;
start_pos_x = goal_x > 0 ? goal_x - GoalDistance : goal_x + GoalDistance;
Console.WriteLine("Golie going to " + start_pos_x);
}
else
{
start_pos_x = m_side == 'l' ? -51:51;
Console.WriteLine("Golie going to " + start_pos_x);
}
m_startPosition = new PointF(start_pos_x, 0);
// first move to start position
// m_robot.Move(m_startPosition.X, m_startPosition.Y);
SeenObject obj;
while (!m_timeOver)
{
//m_robot.Move(m_startPosition.X, m_startPosition.Y);
var myObj = m_coach.GetSeenCoachObject($"player {m_team.m_teamName} {m_number}");
if (myObj != null)
{
Console.WriteLine(myObj.BodyAngle);
m_robot.Turn(45);
Console.WriteLine(myObj.BodyAngle);
}
//var bodyInfo = GetBodyInfo();
//obj = m_memory.GetSeenObject("ball");
/*if (obj == null)
* {
* // If you don't know where is ball then find it
* m_robot.Turn(40);
* m_memory.waitForNewInfo();
* }
* else if (obj.Distance.Value > 1.5)
* {
* // If ball is too far then
* // turn to ball or
* // if we have correct direction then go to ball
* if (obj.Direction.Value != 0)
* m_robot.Turn(obj.Direction.Value);
* else
* m_robot.Dash(10 * obj.Distance.Value);
* }
* else
* {
* // We know where is ball and we can kick it
* // so look for goal
* if (m_side == 'l')
* obj = m_memory.GetSeenObject("goal r");
* else
* obj = m_memory.GetSeenObject("goal l");
*
* if (obj == null)
* {
* m_robot.Turn(40);
* m_memory.waitForNewInfo();
* }
* else
* m_robot.Kick(100, obj.Direction.Value);
* }*/
// 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)
{
}
}
}
private double GetAngle(SeenCoachObject me, SeenCoachObject attacker)
{
var angle = Math.Atan2(me.Pos.Value.Y - attacker.Pos.Value.Y, me.Pos.Value.X - attacker.Pos.Value.X) * 180 / Math.PI;
return(angle - me.BodyAngle.Value);
}
private SeenCoachObject GetMyPossition()
{
SeenCoachObject seenCoachObject = m_coach.GetSeenCoachObject("player " + m_team.m_teamName + " " + m_number);
return(seenCoachObject);
}
public override void play()
{
SeenCoachObject ball;
PointF? goal;
//after gaol, first move to start position
PointF halfPlace = new PointF(0, 0);
while (!m_timeOver)
{
try
{
//go to initial position only after goal or free kick
m_robot.Move(m_startPosition.X, m_startPosition.Y);
SeenCoachObject currPlayer = GetCurrPlayer();
bool onAttackHalf = false;
ball = GetBall();
if (m_side == 'l')
{
onAttackHalf = currPlayer.Pos.Value.X >= -5; // -5
}
else
{
onAttackHalf = currPlayer.Pos.Value.X <= 5; // 5
}
if (onAttackHalf)
{
//if (GetDistanceFrom(ball.Pos.Value) <= 9)
if (FindAtackerClosestToTheBall() == m_number)
{
if (GetDistanceFrom(ball.Pos.Value) <= 1.5)
{
goal = GetGoalPosition(false);
KickToGoal(goal);
}
MoveToPosition(ball.Pos.Value, null);
}
else
{
//AdvanceToStartPoint();
GoToOtherWing();
}
}
else
{
MoveToPosition(halfPlace, null);
}
// 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)
{
}
}
catch (Exception)
{
Console.WriteLine("basa");
}
}
}
public static double GetAngleToPoint(SeenCoachObject myPosByCoach, float x1, float y1)
{
return(GetAngleToPoint(new PointF(x1, y1), myPosByCoach));
}
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);
// //}
// }
//}
}
public double GetDistance(SeenCoachObject me, SeenCoachObject player)
{
return(Math.Sqrt(Math.Pow(me.Pos.Value.Y - player.Pos.Value.Y, 2) + Math.Pow(me.Pos.Value.X - player.Pos.Value.X, 2)));
}
public override void play()
{
m_robot.Move(m_startPosition.X, m_startPosition.Y);
bool isInGoal = false;
while (!m_timeOver)
{
m_memory.waitForNewInfo();
SeenCoachObject ball = FindObjectInView("ball");
while (ball == null)
{
m_memory.waitForNewInfo();
ball = FindObjectInView("ball");
}
var my_data = m_coach.GetSeenCoachObject("player " + m_team.m_teamName + " " + m_number);
while (my_data == null)
{
m_memory.waitForNewInfo();
my_data = m_coach.GetSeenCoachObject("player " + m_team.m_teamName + " " + m_number);
}
var goalLocation = GetMyGoal();
var distanceGoalBall = CommonTools.GetDistance(goalLocation, ball.Pos);
var distanceToBall = CommonTools.GetDistance(my_data.Pos, ball.Pos);
if (distanceGoalBall < 17)
{
if (distanceToBall < 1.5)
{
// catch
var directionToBall = CommonTools.GetRelativeAngle(my_data.BodyAngle, my_data.Pos,
ball.Pos.Value.X, ball.Pos.Value.Y);
m_robot.Catch(directionToBall);
m_memory.waitForNewInfo();
// move
m_robot.Move(m_startPosition.X, m_startPosition.Y);
m_memory.waitForNewInfo();
// turn
PointF opponentsGoal = GetOpponentsGoal();
var directionToOpponentsGoal = CommonTools.GetRelativeAngle(my_data.BodyAngle, my_data.Pos,
opponentsGoal.X, opponentsGoal.Y);
if (directionToOpponentsGoal > 90 || directionToOpponentsGoal < -90)
{
directionToOpponentsGoal /= -Math.Abs(directionToOpponentsGoal);
directionToOpponentsGoal *= 90;
}
m_robot.Kick(100, directionToOpponentsGoal);
}
else
{
var relativeAngle = CommonTools.GetRelativeAngle(my_data.BodyAngle, my_data.Pos,
ball.Pos.Value.X, ball.Pos.Value.Y);
if (Math.Abs(relativeAngle) > 2)
{
m_robot.Turn(relativeAngle);
m_memory.waitForNewInfo();
}
m_robot.Dash(10 * Math.Pow(distanceToBall, 4));
isInGoal = false;
}
}
else
{
MoveToMyGoal();
}
}
}
