public double GetAngleToOpponentGoal()
{
PointF opponentGoalPos;
if (m_side == 'l')
{
opponentGoalPos = (PointF)FlagNameToPointF.Convert("goal r");
}
else
{
opponentGoalPos = (PointF)FlagNameToPointF.Convert("goal l");
}
return(GetAngleToPoint(opponentGoalPos));
}
public double GetDistanceToOpponentGoal()
{
PointF OpponentGoal;
if (m_side == 'l')
{
OpponentGoal = (PointF)FlagNameToPointF.Convert("goal r");
}
else
{
OpponentGoal = (PointF)FlagNameToPointF.Convert("goal l");
}
return(GetDistanceToPoint(OpponentGoal));
}
private PointF GetBottomLimitPoint()
{
PointF bottomLimitPoint;
if (m_side == 'l')
{
bottomLimitPoint = (PointF)FlagNameToPointF.Convert("flag p l b");
}
else
{
bottomLimitPoint = (PointF)FlagNameToPointF.Convert("flag p r b");
}
return(bottomLimitPoint);
}
private PointF GetTopLimitPoint()
{
PointF topLimitPoint;
if (m_side == 'l')
{
topLimitPoint = (PointF)FlagNameToPointF.Convert("flag p l t");
}
else
{
topLimitPoint = (PointF)FlagNameToPointF.Convert("flag p r t");
}
return(topLimitPoint);
}
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 override void play()
{
// first ,ove to start position
m_robot.Move(m_startPosition.X, m_startPosition.Y);
// Move to start possition.
PointF startPoint;
if (m_side == 'l')
{
startPoint = (PointF)FlagNameToPointF.Convert("goal l");
startPoint.X += 1;
}
else
{
startPoint = (PointF)FlagNameToPointF.Convert("goal r");
startPoint.X -= 1;
}
while (!goToCoordinate(startPoint, 1))
{
}
TurnToAngle0(); // Turn to the opponent's goal.
while (!m_timeOver)
{
try
{
SeenObject ball = null;
SeenObject goal = null;
while (ball == null || ball.Distance > 1.5)
{
//Get field information from god (coach).
var ballPosByCoach = m_coach.GetSeenCoachObject("ball");
if (ballPosByCoach != null && ballPosByCoach.Pos != null)
{
//Console.WriteLine($"Ball Position {ballPosByCoach.Pos.Value.X}, {ballPosByCoach.Pos.Value.Y}");
}
//GetDistanceToBall();
//m_memory.waitForNewInfo();
//ball = m_memory.GetSeenObject("ball");
//if (ball == null)
//{
// // If you don't know where is ball then find it
// m_robot.Turn(40);
// m_memory.waitForNewInfo();
//}
//else if (ball.Distance > 1.5)
if (GetDistanceToBall() > 1.5)
{
if (ballPosByCoach != null && ballPosByCoach.Pos != null)
{
// Check goal keeper is within field limit.
PointF topLimitPoint = GetTopLimitPoint();
PointF bottomLimitPoint = GetBottomLimitPoint();
// Run to ball coordibates.
bool reachedCoordinate = goToCoordinate(new PointF(ballPosByCoach.Pos.Value.X, ballPosByCoach.Pos.Value.Y), 1, topLimitPoint, bottomLimitPoint);
//bool reachedCoordinate = goToCoordinate(CalcRelativePossition(new PointF(ballPosByCoach.Pos.Value.X, ballPosByCoach.Pos.Value.Y)),1, topLimitPoint, bottomLimitPoint);
}
else
{
// If ball is too far then
// turn to ball or
// if we have correct direction then go to ball
if (Math.Abs((double)ball.Direction) < 0)
{
m_robot.Turn(ball.Direction.Value);
WaitSimulatorStep();
}
else
{
//m_robot.Dash(10 * ball.Distance.Value);
//WaitSimulatorStep();
//WaitSimulatorStep();
DashToPoint(GetBallDetailsByCoach().Pos.Value, 1);
}
}
}
else // ball.Distance <= 1.5, so we can catch the ball.
{
ball = m_memory.GetSeenObject("ball");
while (ball == null)
{
// If you don't know where is ball then find it
m_robot.Turn(40);
WaitSimulatorStep();
//m_memory.waitForNewInfo();
//Thread.Sleep(SoccerParams.simulator_step);
ball = m_memory.GetSeenObject("ball");
}
m_robot.Catch(ball.Direction.Value);
WaitSimulatorStep();
TurnToAngle0();
m_robot.Move(-40, 15);
WaitSimulatorStep();
double angleTo0 = GetAngleTo0();
double angleToBall = GetAngleToPoint(new PointF(ballPosByCoach.Pos.Value.X, ballPosByCoach.Pos.Value.Y));
//Console.WriteLine($"BEFORE angleToBall: {angleToBall}");
if ((angleToBall > 160) && (angleToBall < 200))
{
angleTo0 += 90;
}
else if ((angleToBall < -160) && (angleToBall > -200))
{
angleTo0 += 90;
}
m_robot.Kick(100, angleTo0);
WaitSimulatorStep();
//Console.WriteLine($"Kick angleTo0: {angleTo0}");
//Console.WriteLine($"angleToBall: {angleToBall}");
}
}
}
catch (Exception e) { }
// sleep one step to ensure that we will not send
//// two commands in one cycle.
//try
//{
// Thread.Sleep(SoccerParams.simulator_step);
//}
//catch (Exception e)
//{
//}
} // DROR
}
public override void play()
{
// first ,ove to start position
m_robot.Move(m_startPosition.X, m_startPosition.Y);
while (!m_timeOver)
{
while (true)
{
while (true)
{
try
{
if (goToBallCoordinates(1))
{
break;
}
WaitSimulatorStep();
}
catch (Exception e) { }
}
var targetPos = (PointF)FlagNameToPointF.Convert("flag c b");
targetPos.Y -= 1;
PassToPossition(targetPos);
WaitSimulatorStep();
var dist = GetDistanceBetween2Points(
(PointF)FlagNameToPointF.Convert("flag c b"),
GetBallDetailsByCoach().Pos.Value);
if (dist < 1)
{
break;
}
}
while (true)
{
try
{
if (goToBallCoordinates(1))
{
break;
}
WaitSimulatorStep();
}
catch (Exception e) { }
}
PassToPossition(((PointF)FlagNameToPointF.Convert("flag c")));
SeenObject ball = null;
SeenObject goal = null;
//Get current player's info:
var bodyInfo = GetBodyInfo();
Console.WriteLine($"Kicks so far : {bodyInfo.Kick}");
while (ball == null || ball.Distance > 1.5)
{
//Get field information from god (coach).
var ballPosByCoach = m_coach.GetSeenCoachObject("ball");
if (ballPosByCoach != null && ballPosByCoach.Pos != null)
{
Console.WriteLine($"Ball Position {ballPosByCoach.Pos.Value.X}, {ballPosByCoach.Pos.Value.Y}");
}
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)
{
// If ball is too far then
// turn to ball or
// if we have correct direction then go to ball
if (Math.Abs((double)ball.Direction) < 0)
{
m_robot.Turn(ball.Direction.Value);
}
else
{
m_robot.Dash(10 * ball.Distance.Value);
}
}
}
// We know where is ball and we can kick it
// so look for goal
while (goal == null)
{
m_memory.waitForNewInfo();
if (m_side == 'l')
{
goal = m_memory.GetSeenObject("goal r");
}
else
{
goal = m_memory.GetSeenObject("goal l");
}
if (goal == null)
{
m_robot.Turn(40);
}
}
m_robot.Kick(100, goal.Direction.Value);
}
// sleep one step to ensure that we will not send
// two commands in one cycle.
WaitSimulatorStep();
}
