//public void ActionAssignments(SSL_WrapperPacket packet)
//{
// if (repo.Configuration.IsBlueTeam)
// {
// if (Closest_Blue_Distance < Closest_Yellow_Distance)
// {
// MakeFreeSpace(packet, repo.Configuration.IsBlueTeam);
// Block_Line_of_Sight(packet, repo.Configuration.IsBlueTeam);
// if (false)//GoalInSight(packet, repo.Configuration.IsBlueTeam))
// {
// GoNearandRotate(packet, true, 300, new IRobotInfo(3025, 0, 0));
// }
// else
// {
// CheckandPass(packet, repo.Configuration.IsBlueTeam);
// }
// }
// else
// {
// Block_Attacker(packet, repo.Configuration.IsBlueTeam);
// //if (Goal_in_Sight(ref packet, 2))
// //{
// // Shoot_at_Goal(2);
// //}
// //else
// //{
// // Pass(2);
// //}
// Mark_Opp_Attack_Support(packet, repo.Configuration.IsBlueTeam);
// Block_Line_of_Sight(packet, repo.Configuration.IsBlueTeam);
// }
// }
// else
// {
// if (Closest_Blue_Distance < Closest_Yellow_Distance)
// {
// Block_Attacker(packet, repo.Configuration.IsBlueTeam);
// GoalInSight(packet, repo.Configuration.IsBlueTeam);
// //{
// // temp(packet, Attacker_Blue);
// //}
// //else
// //{
// // Pass(1);
// //}
// Mark_Opp_Attack_Support(packet, repo.Configuration.IsBlueTeam);
// Block_Line_of_Sight(packet, repo.Configuration.IsBlueTeam);
// }
// else
// {
// MakeFreeSpace(packet, repo.Configuration.IsBlueTeam);
// Block_Line_of_Sight(packet, repo.Configuration.IsBlueTeam);
// if (true)
// {
// GoNearandRotate(packet, true, 300, new IRobotInfo(-3025, 0, 0));
// }
// //else
// //{
// // Pass(2);
// //}
// }
// }
//}
public bool GoalInSight(SSL_WrapperPacket packet, bool IsBlue)
{
float slope1, slope2, tmp_slope, width = 350;
PointF tmp_Point = new PointF(0, 0);
List<float> slopes = new List<float>();
List<float> slopes2 = new List<float>();
List<int> IDs = new List<int>();
List<PointF> Points = new List<PointF>();
List<PointF> Final_Points = new List<PointF>();
if (IsBlue)
{
slope1 = (OppGoal.Y + width - packet.detection.robots_blue[OwnAttackerId].y) / (OppGoal.X - packet.detection.robots_blue[OwnAttackerId].x);
slope2 = (OppGoal.Y - width - packet.detection.robots_blue[OwnAttackerId].y) / (OppGoal.X - packet.detection.robots_blue[OwnAttackerId].x);
for (int i = 0; i < 6; i++)
{
if (packet.detection.robots_blue[OwnAttackerId].x - packet.detection.robots_yellow[i].x > 0)
{
tmp_slope = (packet.detection.robots_blue[OwnAttackerId].y - packet.detection.robots_yellow[i].y) / (packet.detection.robots_blue[OwnAttackerId].x - packet.detection.robots_yellow[i].x);
slopes.Add(tmp_slope);
IDs.Add(i);
}
}
slopes.Sort();
//MessageBox.Show("**");
for (int i = 0; i < slopes.Count; i++)
{
//MessageBox.Show(i.ToString());
//MessageBox.Show(slopes.Count.ToString());
if (slopes.Count == 0)
break;
tmp_slope = -1 / slopes[i];
if (float.IsInfinity(tmp_slope))
tmp_slope = 71;
double ratio = 0.1666666;
float x = 0, y = 0;
while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 70)
{
if (Math.Abs(tmp_slope) > 8)
{
x = (float)(x + ratio);
y = (float)(y + ratio * tmp_slope);
}
else
{
x += 1;
y = y + tmp_slope;
}
}
tmp_Point.X = packet.detection.robots_yellow[IDs[i]].x + x;
tmp_Point.Y = packet.detection.robots_yellow[IDs[i]].y + y;
Points.Add(tmp_Point);
x = 0;
y = 0;
while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 70)
{
if (Math.Abs(tmp_slope) > 8)
{
x = (float)(x - ratio);
y = (float)(y - ratio * tmp_slope);
}
else
{
x -= 1;
y = y - tmp_slope;
}
}
tmp_Point.X = packet.detection.robots_yellow[IDs[i]].x + x;
tmp_Point.Y = packet.detection.robots_yellow[IDs[i]].y + y;
Points.Add(tmp_Point);
}
for (int i = 0; i < Points.Count; i += 2)
{
if (Points.Count == 0)
break;
if (Points[i].Y < Points[i + 1].Y)
{
tmp_Point = Points[i + 1];
Points[i + 1] = Points[i];
Points[i] = tmp_Point;
}
}
slopes.Clear();
for (int i = 0; i < Points.Count; i++)
{
if (Points.Count == 0)
break;
tmp_slope = (packet.detection.robots_blue[OwnAttackerId].y - Points[i].Y) / (packet.detection.robots_blue[OwnAttackerId].x - Points[i].X);
slopes.Add(tmp_slope);
}
Points.Clear();
for (int i = 0; i < slopes.Count; i += 2)
{
tmp_Point.X = OppGoal.X;
tmp_Point.Y = slopes[i] * (OppGoal.X - packet.detection.robots_blue[OwnAttackerId].x) + packet.detection.robots_blue[OwnAttackerId].y;
Points.Add(tmp_Point);
tmp_Point.X = OppGoal.X;
tmp_Point.Y = slopes[i + 1] * (OppGoal.X - packet.detection.robots_blue[OwnAttackerId].x) + packet.detection.robots_blue[OwnAttackerId].y;
Points.Add(tmp_Point);
}
//MessageBox.Show("**");
for (int i = 0; i < Points.Count; i++)
{
//MessageBox.Show(Points[i].X.ToString() + " " + Points[i].Y.ToString() + " " + i.ToString());
tmp_Point.X = 3025;
if (Points[i].Y < (OppGoal.Y - 350))
{
tmp_Point.Y = -350;
Points[i] = tmp_Point;
}
if (Points[i].Y > (OppGoal.Y + 350))
{
tmp_Point.Y = 350;
Points[i] = tmp_Point;
}
}
for (int i = 0; i < Points.Count; i += 2)
{
if ((Points[i].Y > 350 && Points[i + 1].Y > 350) || (Points[i].Y < -350 && Points[i + 1].Y < -350))
{
Points.RemoveAt(i);
Points.RemoveAt(i + 1);
}
}
for (int i = 0; i < Points.Count; i++)
{
for (int j = 0; j < Points.Count; j += 2)
{
if (Points[i].Y < Points[j].Y && Points[i].Y > Points[j + 1].Y)
{
if (i % 2 == 0)
{
tmp_Point.Y = Points[j].Y;
Points[i] = tmp_Point;
if (Points[i + 1].Y > Points[j + 1].Y)
{
tmp_Point.Y = Points[j + 1].Y;
Points[i + 1] = tmp_Point;
}
else
{
tmp_Point.Y = Points[i + 1].Y;
Points[j + 1] = tmp_Point;
}
}
else
{
tmp_Point.Y = Points[j + 1].Y;
Points[i] = tmp_Point;
if (Points[i - 1].Y < Points[j].Y)
{
tmp_Point.Y = Points[j].Y;
Points[i - 1] = tmp_Point;
}
else
{
tmp_Point.Y = Points[i - 1].Y;
Points[j] = tmp_Point;
}
}
}
}
}
for (int i = 0; i < Points.Count; i++)
{
tmp_Point.Y = 0;
if (i == 0)
{
Final_Points.Add(Points[i]);
}
for (int j = 0; j < Final_Points.Count; j++)
{
if (Points[i] == Final_Points[j])
{
tmp_Point.Y = 1;
}
}
if (tmp_Point.Y == 0)
{
Final_Points.Add(Points[i]);
}
}
float max_dist = 0;
float tmp_dist = 0;
for (int i = 0; i < Final_Points.Count; i++)
{
if (i == 0)
{
tmp_dist = OppGoal.Y + 350 - Final_Points[i].Y;
max_dist = tmp_dist;
tmp_Point.Y = (OppGoal.Y + 350 + Final_Points[i].Y) / 2;
}
else
{
if (i == Final_Points.Count - 1)
{
tmp_dist = Math.Abs(OppGoal.Y - 350 - Final_Points[i].Y);
if (tmp_dist > max_dist)
{
max_dist = tmp_dist;
tmp_Point.Y = (OppGoal.Y - 350 + Final_Points[i].Y) / 2;
}
}
else
{
if (i % 2 == 0)
{
continue;
}
else
{
tmp_dist = Math.Abs(Final_Points[i].Y - Final_Points[i + 1].Y);
if (tmp_dist > max_dist)
{
max_dist = tmp_dist;
tmp_Point.Y = (Final_Points[i].Y + Final_Points[i + 1].Y) / 2;
}
}
}
}
}
//MessageBox.Show(tmp_Point.X.ToString() + " " + tmp_Point.Y.ToString());
if (max_dist >= 50)
{
ShootingAngle = (float)Math.Atan2(packet.detection.robots_blue[OwnAttackerId].y - tmp_Point.Y, packet.detection.robots_blue[OwnAttackerId].x - 0);
return true;
}
else
return false;
}
else
{
return true;
}
}
public void Block_Line_of_Sight(SSL_WrapperPacket packet, bool IsBlue)
{
if (IsBlue)
{
if (packet.detection.balls[0].x > -3025)
{
List<float> slopes = new List<float>();
IRobotInfo[] final_points = new IRobotInfo[3];
List<IRobotInfo> points_goal = new List<IRobotInfo>();
List<float> final_angles = new List<float>();
int point_with_small_y = 0, point_with_big_y = 2;
IRobotInfo tmp_point = new RobotParameters(-3025, 0, 0);
tmp_point.Y = -232;
points_goal.Add(Statics.DeepClone<IRobotInfo>(tmp_point));
tmp_point.Y = 0;
points_goal.Add(Statics.DeepClone<IRobotInfo>(tmp_point));
tmp_point.Y = 232;
points_goal.Add(Statics.DeepClone<IRobotInfo>(tmp_point));
slopes.Add((OwnGoal.Y - 232 - packet.detection.balls[0].y) / (OwnGoal.X - packet.detection.balls[0].x));
slopes.Add((OwnGoal.Y + 0 - packet.detection.balls[0].y) / (OwnGoal.X - packet.detection.balls[0].x));
slopes.Add((OwnGoal.Y + 232 - packet.detection.balls[0].y) / (OwnGoal.X - packet.detection.balls[0].x));
float x = 0, y = 0;
double ratio = 0.1666666666;
for (int i = 0; i < 3; i++)
{
if (float.IsInfinity(slopes[i]))
slopes[i] = 300;
if (i == 1)
{
while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 375)
{
if (slopes[i] > 9)
{
x = (float)(x + ratio);
y = (float)(y + ratio * slopes[i]);
}
else
{
x = x + 1;
y = y + slopes[i];
}
}
}
else
{
while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 800)
{
if (slopes[i] > 9)
{
x = (float)(x + ratio);
y = (float)(y + ratio * slopes[i]);
}
else
{
x = x + 1;
y = y + slopes[i];
}
}
}
tmp_point.X = points_goal[i].X + x;
tmp_point.Y = points_goal[i].Y + y;
final_points[i] = Common.Statics.DeepClone<IRobotInfo>(tmp_point);
x = 0;
y = 0;
}
final_angles.Add((float)Math.Atan2(OwnGoal.Y - 232 - packet.detection.balls[0].y, OwnGoal.X - packet.detection.balls[0].x));
final_angles.Add((float)Math.Atan2(OwnGoal.Y - 0 - packet.detection.balls[0].y, OwnGoal.X - packet.detection.balls[0].x));
final_angles.Add((float)Math.Atan2(OwnGoal.Y + 232 - packet.detection.balls[0].y, OwnGoal.X - packet.detection.balls[0].x));
for (int i = 0; i < 3; i++)
{
final_angles[i] += (float)Math.PI;
final_points[i].W = final_angles[i];
}
if (final_points[2].Y < final_points[0].Y)
{
point_with_small_y = 2;
point_with_big_y = 0;
}
if (packet.detection.robots_blue[OwnDefender1Id].y < packet.detection.robots_blue[OwnDefender2Id].y)
{
repo.OutData[OwnDefender1Id].X = final_points[point_with_small_y].X;
repo.OutData[OwnDefender1Id].Y = final_points[point_with_small_y].Y;
repo.OutData[OwnDefender1Id].W = final_points[point_with_small_y].W;
//DataHandler.WriteReference(final_points[point_with_small_y], Defender1_Blue);
repo.OutData[OwnGoalkeeperId].X = final_points[1].X;
repo.OutData[OwnGoalkeeperId].Y = final_points[1].Y;
repo.OutData[OwnGoalkeeperId].W = final_points[1].W;
//DataHandler.WriteReference(final_points[1], GoalKeeper_Blue_id);
repo.OutData[OwnDefender2Id].X = final_points[point_with_big_y].X;
repo.OutData[OwnDefender2Id].Y = final_points[point_with_big_y].Y;
repo.OutData[OwnDefender2Id].W = final_points[point_with_big_y].W;
//DataHandler.WriteReference(final_points[point_with_big_y], Defender2_Blue);
}
else
{
repo.OutData[OwnDefender1Id].X = final_points[point_with_big_y].X;
repo.OutData[OwnDefender1Id].Y = final_points[point_with_big_y].Y;
repo.OutData[OwnDefender1Id].W = final_points[point_with_big_y].W;
//DataHandler.WriteReference(final_points[point_with_big_y], Defender1_Blue);
repo.OutData[OwnGoalkeeperId].X = final_points[1].X;
repo.OutData[OwnGoalkeeperId].Y = final_points[1].Y;
repo.OutData[OwnGoalkeeperId].W = final_points[1].W;
//DataHandler.WriteReference(final_points[1], GoalKeeper_Blue_id);
repo.OutData[OwnDefender2Id].X = final_points[point_with_small_y].X;
repo.OutData[OwnDefender2Id].Y = final_points[point_with_small_y].Y;
repo.OutData[OwnDefender2Id].W = final_points[point_with_small_y].W;
//DataHandler.WriteReference(final_points[point_with_small_y], Defender2_Blue);
}
//if(Distance(packet.detection.robots_blue[Defender1_Blue].x,final_points[0].x,packet.detection.robots_blue[Defender1_Blue].y,final_points[0].y) < Distance(packet.detection.robots_blue[Defender2_Blue].x,final_points[0].x,
//rebuff = Defender1_Blue.ToString() + Environment.NewLine + final_points[0].x.ToString() + " " + final_points[0].y.ToString() + " " + final_points[0].w.ToString() +
// Environment.NewLine + GoalKeeper_Blue_id.ToString() + Environment.NewLine + final_points[1].x.ToString() + " " + final_points[1].y.ToString() + " " + final_points[1].w.ToString() +
// Environment.NewLine + Defender2_Blue.ToString() + Environment.NewLine + final_points[2].x.ToString() + " " + final_points[2].y.ToString() + " " + final_points[2].w.ToString();
}
}
else
{
if (packet.detection.balls[0].x < 3025)
{
List<float> slopes = new List<float>();
IRobotInfo[] final_points = new IRobotInfo[3];
List<IRobotInfo> points_goal = new List<IRobotInfo>();
List<float> final_angles = new List<float>();
int point_with_small_y = 0, point_with_big_y = 2;
IRobotInfo tmp_point = new RobotParameters(3025, 0, 0);
tmp_point.Y = -232;
points_goal.Add(Statics.DeepClone<IRobotInfo>(tmp_point));
tmp_point.Y = 0;
points_goal.Add(Statics.DeepClone<IRobotInfo>(tmp_point));
tmp_point.Y = 232;
points_goal.Add(Statics.DeepClone<IRobotInfo>(tmp_point));
slopes.Add((OppGoal.Y - 232 - packet.detection.balls[0].y) / (OppGoal.X - packet.detection.balls[0].x));
slopes.Add((OppGoal.Y + 0 - packet.detection.balls[0].y) / (OppGoal.X - packet.detection.balls[0].x));
slopes.Add((OppGoal.Y + 232 - packet.detection.balls[0].y) / (OppGoal.X - packet.detection.balls[0].x));
float x = 0, y = 0;
double ratio = 0.1666666666;
for (int i = 0; i < 3; i++)
{
if (float.IsInfinity(slopes[i]))
slopes[i] = 300;
if (i == 1)
{
while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 375)
{
if (slopes[i] > 9)
{
x = (float)(x - ratio);
y = (float)(y - ratio * slopes[i]);
}
else
{
x = x - 1;
y = y - slopes[i];
}
}
}
else
{
while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 800)
{
if (slopes[i] > 9)
{
x = (float)(x - ratio);
y = (float)(y - ratio * slopes[i]);
}
else
{
x = x - 1;
y = y - slopes[i];
}
}
}
tmp_point.X = points_goal[i].X + x;
tmp_point.Y = points_goal[i].Y + y;
final_points[i] = Statics.DeepClone<IRobotInfo>(tmp_point);
x = 0;
y = 0;
}
final_angles.Add((float)Math.Atan2(OppGoal.Y - 232 - packet.detection.balls[0].y, OppGoal.X - packet.detection.balls[0].x));
final_angles.Add((float)Math.Atan2(OppGoal.Y - 0 - packet.detection.balls[0].y, OppGoal.X - packet.detection.balls[0].x));
final_angles.Add((float)Math.Atan2(OppGoal.Y + 232 - packet.detection.balls[0].y, OppGoal.X - packet.detection.balls[0].x));
for (int i = 0; i < 3; i++)
{
final_angles[i] += (float)Math.PI;
final_points[i].W = final_angles[i];
}
if (final_points[2].Y < final_points[0].Y)
{
point_with_small_y = 2;
point_with_big_y = 0;
}
if (packet.detection.robots_yellow[OppDefender1Id].y < packet.detection.robots_yellow[OppDefender2Id].y)
{
repo.OutData[OppDefender1Id].X = final_points[point_with_small_y].X;
repo.OutData[OppDefender1Id].Y = final_points[point_with_small_y].Y;
repo.OutData[OppDefender1Id].W = final_points[point_with_small_y].W;
//DataHandler.WriteReference(final_points[point_with_small_y], Defender1_Yellow);
repo.OutData[OppGoalkeeperId].X = final_points[1].X;
repo.OutData[OppGoalkeeperId].Y = final_points[1].Y;
repo.OutData[OppGoalkeeperId].W = final_points[1].W;
//DataHandler.WriteReference(final_points[1], GoalKeeper_Yellow_id);
repo.OutData[OppDefender2Id].X = final_points[point_with_big_y].X;
repo.OutData[OppDefender2Id].Y = final_points[point_with_big_y].Y;
repo.OutData[OppDefender2Id].W = final_points[point_with_big_y].W;
//DataHandler.WriteReference(final_points[point_with_big_y], Defender2_Yellow);
}
else
{
repo.OutData[OppDefender1Id].X = final_points[point_with_big_y].X;
repo.OutData[OppDefender1Id].Y = final_points[point_with_big_y].Y;
repo.OutData[OppDefender1Id].W = final_points[point_with_big_y].W;
//DataHandler.WriteReference(final_points[point_with_big_y], Defender1_Yellow);
repo.OutData[OppGoalkeeperId].X = final_points[1].X;
repo.OutData[OppGoalkeeperId].Y = final_points[1].Y;
repo.OutData[OppGoalkeeperId].W = final_points[1].W;
//DataHandler.WriteReference(final_points[1], GoalKeeper_Yellow_id);
repo.OutData[OppDefender2Id].X = final_points[point_with_small_y].X;
repo.OutData[OppDefender2Id].Y = final_points[point_with_small_y].Y;
repo.OutData[OppDefender2Id].W = final_points[point_with_small_y].W;
//DataHandler.WriteReference(final_points[point_with_small_y], Defender2_Yellow);
}
}
//tb_private.Text += "Yellow Defender1 ID " + Defender1_Yellow + " and " + "Yellow Defender2 ID " + Defender2_Yellow + " blocking the goal " + "\r\n";
}
//Use Defender1_Yellow and Defender2_Support_Yellow for team 2 and Defender1_Blue and Defender2_Support_Blue for team 1.
}
public void CheckandPass(SSL_WrapperPacket packet, bool IsBlue)
{
IRobotInfo roboinfo = RobotToIRobotInfo(repo.InData.Own(OwnAttackerId));
IRobotInfo roboinfo2 = RobotToIRobotInfo(repo.InData.Own(OwnAttackSupportId));
if (roboinfo.XVelocity <= 0.005 && roboinfo.YVelocity <= 0.005 && roboinfo.WVelocity <= 0.005 && roboinfo2.XVelocity <= 0.005 && roboinfo2.YVelocity <= 0.005 && roboinfo2.WVelocity < 0.005)
{
bool go_support = true;
if (IsBlue)
{
IRobotInfo[] pts = TrianglePoints(packet, PassCalculation(RobotToIRobotInfo(packet.detection.robots_blue[OwnAttackSupportId]), new RobotParameters(packet.detection.balls[0].x, packet.detection.balls[0].y, 0), 50), OwnAttackSupportId, repo.Configuration.IsBlueTeam);
foreach (SSL_DetectionRobot robot in packet.detection.robots_yellow)
if (TriangleTest(pts[0], pts[1], RobotToIRobotInfo(packet.detection.robots_blue[OwnAttackSupportId]), RobotToIRobotInfo(robot)))
{
go_support = false;
break;
}
if (go_support)
{
GoNearandRotate(packet, repo.Configuration.IsBlueTeam, 300, RobotToIRobotInfo(packet.detection.robots_blue[OwnAttackSupportId]));
}
else
{
go_support = true;
pts = TrianglePoints(packet, PassCalculation(RobotToIRobotInfo(packet.detection.robots_blue[OwnFreeRoleId]), new RobotParameters(packet.detection.balls[0].x, packet.detection.balls[0].y, 0), 50), OwnFreeRoleId, repo.Configuration.IsBlueTeam);
foreach (SSL_DetectionRobot robot in packet.detection.robots_yellow)
{
if (TriangleTest(pts[0], pts[1], RobotToIRobotInfo(packet.detection.robots_blue[OwnFreeRoleId]), RobotToIRobotInfo(robot)))
{
go_support = false;
break;
}
}
if (go_support)
{
GoNearandRotate(packet, repo.Configuration.IsBlueTeam, 300, RobotToIRobotInfo(packet.detection.robots_blue[OwnFreeRoleId]));
}
}
}
}
}
public IRobotInfo[] TrianglePoints(SSL_WrapperPacket packet, IRobotInfo source, int TargetID, bool IsBlue)
{
IRobotInfo[] t = new IRobotInfo[2];
float angle = (float)Math.Atan2(source.Y - packet.detection.robots_blue[TargetID].y, source.X - packet.detection.robots_blue[TargetID].x);
t[0] = new RobotParameters((float)(-100 * Math.Sin(angle)) + source.X, (float)(100 * Math.Cos(angle)) + source.Y, 0);
t[1] = new RobotParameters((float)(100 * Math.Sin(angle)) + source.X, (float)(-100 * Math.Cos(angle)) + source.Y, 0);
return t;
}
public void Block_Attacker(SSL_WrapperPacket packet, bool IsBlue)
{
IRobotInfo Final_Point_Marker = new RobotParameters(0, 0, 0);
float Final_Angle = 0;
float tmp_slope = 0;
if (IsBlue)
{
tmp_slope = (OwnGoal.Y - packet.detection.balls[0].y) / (OwnGoal.X - packet.detection.balls[0].x);
if (float.IsInfinity(tmp_slope))
tmp_slope = 300;
float x = 0;
float y = 0;
double ratio = 0.1666666666;
while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 300)
{
if (tmp_slope > 9)
{
x = (float)(x - ratio);
y = (float)(y - ratio * tmp_slope);
}
else
{
x = x - 1;
y = y - tmp_slope;
}
}
Final_Point_Marker.X = packet.detection.balls[0].x + x;
Final_Point_Marker.Y = packet.detection.balls[0].y + y;
Final_Angle = (float)Math.Atan2(OwnGoal.Y - packet.detection.balls[0].y, OwnGoal.X - packet.detection.balls[0].x);
Final_Angle = (float)(Final_Angle + Math.PI);
Final_Point_Marker.W = Final_Angle;
repo.OutData[OwnAttackerId].X = Final_Point_Marker.X;
repo.OutData[OwnAttackerId].Y = Final_Point_Marker.Y;
repo.OutData[OwnAttackerId].W = Final_Point_Marker.W;
//DataHandler.WriteReference(Final_Point_Marker, Attacker_Blue);
}
else
{
tmp_slope = (OppGoal.Y - packet.detection.balls[0].y) / (OppGoal.X - packet.detection.balls[0].x);
if (float.IsInfinity(tmp_slope))
tmp_slope = 300;
float x = 0;
float y = 0;
double ratio = 0.16666666666;
while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 300)
{
if (tmp_slope > 9)
{
x = (float)(x + ratio);
y = (float)(y + ratio * tmp_slope);
}
else
{
x = x + 1;
y = y + tmp_slope;
}
}
Final_Point_Marker.X = packet.detection.balls[0].x + x;
Final_Point_Marker.Y = packet.detection.balls[0].y + y;
Final_Angle = (float)Math.Atan2(OppGoal.Y - packet.detection.balls[0].y, OppGoal.X - packet.detection.balls[0].x);
Final_Angle = (float)(Final_Angle + Math.PI);
Final_Point_Marker.W = Final_Angle;
repo.OutData[OppAttackerId].X = Final_Point_Marker.X;
repo.OutData[OppAttackerId].Y = Final_Point_Marker.Y;
repo.OutData[OppAttackerId].W = Final_Point_Marker.W;
//DataHandler.WriteReference(Final_Point_Marker, Attacker_Yellow);
//Yellow Function Goes Here
}
//Use Marker_Yellow for team 2 and Marker_Blue for team 1.
}
public IRobotInfo[] PlanExclusive(SSL_WrapperPacket mainPacket)
{
Plan();
return null;
}
public void rotateabout(SSL_WrapperPacket packet, IRobotInfo target, float conf)
{
//packet.detection.robots_blue[Attacker_Blue]
//PointF[] paray=new PointF[360];
//for (int i=0;i<360;i++)
float finalangle = (float)Math.Atan2(packet.detection.balls[0].y - target.Y, packet.detection.balls[0].x - target.X);
IRobotInfo rb1 = new RobotParameters();
float i = (float)Math.Atan2(packet.detection.robots_blue[OwnAttackerId].y - packet.detection.balls[0].y, packet.detection.robots_blue[OwnAttackerId].x - packet.detection.balls[0].x);
float Offset = 1.30f;//0.69808027923211169284467713787086f;
if (Math.Abs(finalangle - i) > Math.PI)
Offset = -Offset;
if (finalangle - i > Offset)//0.69808027923211169284467713787086f)
{
//rebuff = (finalangle * 57.3).ToString() + " x " + (i * 57.3).ToString();
i += Offset;
rb1.X = packet.detection.balls[0].x + conf * (float)Math.Cos(i);
rb1.Y = packet.detection.balls[0].y + conf * (float)Math.Sin(i);
//rb1.w = (float)Math.Atan2(packet.detection.balls[0].y - packet.detection.robots_blue[Attacker_Blue].y, packet.detection.balls[0].x - packet.detection.robots_blue[Attacker_Blue].x);
//rb1.w += (float)Offset;
repo.OutData[OwnAttackerId].X = rb1.X;
repo.OutData[OwnAttackerId].Y = rb1.Y;
repo.OutData[OwnAttackerId].W = (float)Math.Atan2(0 - repo.InData.GetBalls(0)[0].y, 3025 - repo.InData.GetBalls(0)[0].x);
//DataHandler.WriteReference(new RobotParameters(rb1.X, rb1.Y, (float)Math.Atan2(0 - packet.detection.balls[0].y, 3025 - packet.detection.balls[0].x)), Attacker_Blue);
}
else if (finalangle - i > 0.05f)
{
//rebuff = (finalangle * 57.3).ToString() + Environment.NewLine;
rb1.X = packet.detection.balls[0].x + conf * (float)Math.Cos(finalangle);
rb1.Y = packet.detection.balls[0].y + conf * (float)Math.Sin(finalangle);
//rb1.w = (float)Math.Atan2(packet.detection.balls[0].y - packet.detection.robots_blue[Attacker_Blue].y, packet.detection.balls[0].x - packet.detection.robots_blue[Attacker_Blue].x);
//rb1.w += (float)(40 / 57.3);
repo.OutData[OwnAttackerId].X = rb1.X;
repo.OutData[OwnAttackerId].Y = rb1.Y;
repo.OutData[OwnAttackerId].X = (float)Math.Atan2(0 - packet.detection.balls[0].y, 3025 - packet.detection.balls[0].x);
//DataHandler.WriteReference(new IRobotInfo(rb1.X, rb1.Y, (float)Math.Atan2(0 - packet.detection.balls[0].y, 3025 - packet.detection.balls[0].x)), Attacker_Blue);
}
else
GrabOrKick(packet, OwnAttackerId);
}
public void MakeFreeSpace(SSL_WrapperPacket packet, bool IsBlue)
{
IRobotInfo Final_Point_Support = new RobotParameters();
IRobotInfo Final_Point_Mid = new RobotParameters();
if (IsBlue)
{
//tb_private.Text += "Blue team's Attack Support ID " + Attack_Supporter_Blue + " and Midfielder ID " + Free_Role_Blue + " move into the free space" + "\r\n";
if (OppRobotsMean.Y > 0)
{
if (Distance(packet.detection.robots_blue[OwnAttackSupportId].x, OppRobotsMean.X, packet.detection.robots_blue[OwnAttackSupportId].y, OppRobotsMean.Y) < Distance(packet.detection.robots_blue[OwnFreeRoleId].x, OppRobotsMean.X, packet.detection.robots_blue[OwnFreeRoleId].y, OppRobotsMean.Y))
{
Final_Point_Support.X = OppRobotsMean.X;
Final_Point_Support.Y = OppRobotsMean.Y;
Final_Point_Mid.X = OppRobotsMean.X;
Final_Point_Mid.Y = -9 * OppRobotsStandardDeviation.Y / 5;
}
else
{
Final_Point_Support.X = OppRobotsMean.X;
Final_Point_Support.Y = -9 * OppRobotsStandardDeviation.Y / 5;
Final_Point_Mid.X = OppRobotsMean.X;
Final_Point_Mid.Y = OppRobotsMean.Y;
}
}
else
{
if (Distance(packet.detection.robots_blue[OwnAttackSupportId].x, OppRobotsMean.X, packet.detection.robots_blue[OwnAttackSupportId].y, -OppRobotsMean.Y) < Distance(packet.detection.robots_blue[OwnFreeRoleId].x, OppRobotsMean.X, packet.detection.robots_blue[OwnFreeRoleId].y, -OppRobotsMean.Y))
{
Final_Point_Support.X = OppRobotsMean.X;
Final_Point_Support.Y = -OppRobotsMean.Y;
Final_Point_Mid.X = OppRobotsMean.X;
Final_Point_Mid.Y = 9 * OppRobotsStandardDeviation.Y / 5;
}
else
{
Final_Point_Support.X = OppRobotsMean.X;
Final_Point_Support.Y = 9 * OppRobotsStandardDeviation.Y / 5;
Final_Point_Mid.X = OppRobotsMean.X;
Final_Point_Mid.Y = -OppRobotsMean.Y;
}
}
Final_Point_Support.W = (float)Math.Atan2(packet.detection.balls[0].y - Final_Point_Support.Y, packet.detection.balls[0].x - Final_Point_Support.X);
Final_Point_Mid.W = (float)Math.Atan2(packet.detection.balls[0].y - Final_Point_Mid.Y, packet.detection.balls[0].x - Final_Point_Mid.X);
repo.OutData[OwnAttackSupportId].X = Final_Point_Support.X;
repo.OutData[OwnAttackSupportId].Y = Final_Point_Support.Y;
repo.OutData[OwnAttackSupportId].W = Final_Point_Support.W;
//DataHandler.WriteReference(Final_Point_Support, Attack_Supporter_Blue);
repo.OutData[OwnFreeRoleId].X = Final_Point_Mid.X;
repo.OutData[OwnFreeRoleId].Y = Final_Point_Mid.Y;
repo.OutData[OwnFreeRoleId].W = Final_Point_Mid.W;
//DataHandler.WriteReference(Final_Point_Mid, Free_Role_Blue);
//tb_private.Text += "Blue team's Attack Support ID " + Attack_Supporter_Blue + " moves to (" + Final_Point_Support.X + ", " + Final_Point_Support.Y + ") and Midfielder ID " + Free_Role_Blue + " moves to (" + Final_Point_Mid.X + ", " + Final_Point_Mid.Y + ")" + "\r\n";
}
else
{
if (OwnRobotsMean.Y > 0)
{
if (Distance(packet.detection.robots_yellow[OppAttackSupportId].x, OwnRobotsMean.X, packet.detection.robots_yellow[OppAttackSupportId].y, OwnRobotsMean.Y) < Distance(packet.detection.robots_yellow[OppFreeRoleId].x, OwnRobotsMean.X, packet.detection.robots_yellow[OppFreeRoleId].y, OwnRobotsMean.Y))
{
Final_Point_Support.X = OwnRobotsMean.X;
Final_Point_Support.Y = OwnRobotsMean.Y;
Final_Point_Mid.X = OwnRobotsMean.X;
Final_Point_Mid.Y = -9 * OwnRobotsStandardDeviation.Y / 5;
}
else
{
Final_Point_Support.X = OwnRobotsMean.X;
Final_Point_Support.Y = -9 * OwnRobotsStandardDeviation.Y / 5;
Final_Point_Mid.X = OwnRobotsMean.X;
Final_Point_Mid.Y = OwnRobotsMean.Y;
}
}
else
{
if (Distance(packet.detection.robots_yellow[OppAttackSupportId].x, OwnRobotsMean.X, packet.detection.robots_yellow[OppAttackSupportId].y, -OwnRobotsMean.Y) < Distance(packet.detection.robots_yellow[OppFreeRoleId].x, OwnRobotsMean.X, packet.detection.robots_yellow[OppFreeRoleId].y, -OwnRobotsMean.Y))
{
Final_Point_Support.X = OwnRobotsMean.X;
Final_Point_Support.Y = -OwnRobotsMean.Y;
Final_Point_Mid.X = OwnRobotsMean.X;
Final_Point_Mid.Y = 9 * OwnRobotsStandardDeviation.Y / 5;
}
else
{
Final_Point_Support.X = OwnRobotsMean.X;
Final_Point_Support.Y = 9 * OwnRobotsStandardDeviation.Y / 5;
Final_Point_Mid.X = OwnRobotsMean.X;
Final_Point_Mid.Y = -OwnRobotsMean.Y;
}
}
Final_Point_Mid.W = (float)Math.Atan2(packet.detection.balls[0].y - Final_Point_Mid.Y, packet.detection.balls[0].x - Final_Point_Mid.X);
Final_Point_Support.W = (float)Math.Atan2(packet.detection.balls[0].y - Final_Point_Support.Y, packet.detection.balls[0].x - Final_Point_Support.X);
repo.OutData[OppAttackSupportId].X = Final_Point_Support.X;
repo.OutData[OppAttackSupportId].Y = Final_Point_Support.Y;
repo.OutData[OppAttackSupportId].W = Final_Point_Support.W;
//DataHandler.WriteReference(Final_Point_Support, Attack_Supporter_Yellow);
repo.OutData[OppFreeRoleId].X = Final_Point_Mid.X;
repo.OutData[OppFreeRoleId].Y = Final_Point_Mid.Y;
repo.OutData[OppFreeRoleId].W = Final_Point_Mid.W;
//DataHandler.WriteReference(Final_Point_Mid, Free_Role_Yellow);
//MessageBox.Show(Final_Point_Support.x.ToString() + ", " + Final_Point_Support.y.ToString() + " " + Final_Point_Mid.x.ToString() + ", " + Final_Point_Mid.y.ToString());
//tb_private.Text += "Yellow team's Attack Support ID " + Attack_Supporter_Yellow + " and Midfielder ID " + Free_Role_Yellow + " move into the free space" + "\r\n";
}
}
public void Mark_Opp_Attack_Support(SSL_WrapperPacket packet, bool IsBlue)
{
IRobotInfo Final_Point_Marker = new RobotParameters(0, 0, 0);
float Final_Angle = 0;
float tmp_slope = 0;
if (IsBlue)
{
tmp_slope = (packet.detection.robots_yellow[OppAttackSupportId].y - packet.detection.robots_yellow[OppAttackerId].y) / (packet.detection.robots_yellow[OppAttackSupportId].x - packet.detection.robots_yellow[OppAttackerId].x);
if (float.IsInfinity(tmp_slope))
tmp_slope = 300;
float x = 0;
float y = 0;
double ratio = 0.1666666;
while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 300)
{
if (packet.detection.robots_yellow[OppAttackSupportId].x <= packet.detection.robots_yellow[OppAttackerId].x)
{
if (tmp_slope > 9)
{
x = (float)(x + ratio);
y = (float)(y + ratio * tmp_slope);
}
else
{
x = x + 1;
y = y + tmp_slope;
}
}
else
{
if (tmp_slope > 9)
{
x = (float)(x - ratio);
y = (float)(y - ratio * tmp_slope);
}
else
{
x = x - 1;
y = y - tmp_slope;
}
}
}
Final_Point_Marker.X = packet.detection.robots_yellow[OppAttackSupportId].x + x;
Final_Point_Marker.Y = packet.detection.robots_yellow[OppAttackSupportId].y + y;
Final_Angle = (float)Math.Atan2(packet.detection.robots_yellow[OppAttackSupportId].y - packet.detection.robots_yellow[OppAttackerId].y, packet.detection.robots_yellow[OppAttackSupportId].x - packet.detection.robots_yellow[OppAttackerId].x);
Final_Angle = (float)(Final_Angle + Math.PI);
Final_Point_Marker.W = Final_Angle;
//MessageBox.Show(Final_Angle.ToString());
repo.OutData[OwnAttackSupportId].X = Final_Point_Marker.X;
repo.OutData[OwnAttackSupportId].Y = Final_Point_Marker.Y;
repo.OutData[OwnAttackSupportId].W = Final_Point_Marker.W;
//DataHandler.WriteReference(Final_Point_Marker, Attack_Supporter_Blue);
//tb_private.Text += "Blue Marker ID " + Marker_Blue + " blocking goal " + "\r\n";
//tb_private.Text += "Blue Midfielder ID " + Free_Role_Blue + " moves to (" + Final_Point_Marker.X + ", " + Final_Point_Marker.Y + ")" + "\r\n";
}
else
{
tmp_slope = (packet.detection.robots_blue[OwnAttackSupportId].y - packet.detection.robots_blue[OwnAttackerId].y) / (packet.detection.robots_blue[OwnAttackSupportId].x - packet.detection.robots_blue[OwnAttackerId].x);
//.Show(tmp_slope.ToString());
if (float.IsInfinity(tmp_slope))
tmp_slope = 300;
//MessageBox.Show(tmp_slope.ToString());
float x = 0;
float y = 0;
double ratio = 0.1666666666666;
while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 300)
{
if (packet.detection.robots_blue[OwnAttackSupportId].x <= packet.detection.robots_blue[OwnAttackerId].x)
{
if (tmp_slope > 9)
{
x = (float)(x + ratio);
y = (float)(y + ratio * tmp_slope);
}
else
{
x = x + 1;
y = y + tmp_slope;
}
}
else
{
if (tmp_slope > 9)
{
x = (float)(x - ratio);
y = (float)(y - ratio * tmp_slope);
}
else
{
x = x - 1;
y = y - tmp_slope;
}
//MessageBox.Show(x.ToString() + ", " + y.ToString());
}
}
Final_Point_Marker.X = packet.detection.robots_blue[OwnAttackSupportId].x + x;
Final_Point_Marker.Y = packet.detection.robots_blue[OwnAttackSupportId].y + y;
Final_Angle = (float)Math.Atan2(packet.detection.robots_blue[OwnAttackSupportId].y - packet.detection.robots_blue[OwnAttackerId].y, packet.detection.robots_blue[OwnAttackSupportId].x - packet.detection.robots_blue[OwnAttackerId].x);
Final_Angle = (float)(Final_Angle + Math.PI);
Final_Point_Marker.W = Final_Angle;
//MessageBox.Show(Final_Angle.ToString());
repo.OutData[OppAttackSupportId].X = Final_Point_Marker.X;
repo.OutData[OppAttackSupportId].Y = Final_Point_Marker.Y;
repo.OutData[OppAttackSupportId].W = Final_Point_Marker.W;
//DataHandler.WriteReference(Final_Point_Marker, Attack_Supporter_Yellow);
//tb_private.Text += "Yellow team's Midfielder ID " + Free_Role_Blue + " marking Blue's Attack Supporter ID " + Attack_Supporter_Blue + "\r\n";
}
}
public void GrabOrKick(SSL_WrapperPacket packet, int id)
{
if (repo.Configuration.IsBlueTeam)
{
if (Distance(packet.detection.robots_blue[id].x, packet.detection.balls[0].x, packet.detection.robots_blue[id].y, packet.detection.balls[0].y) > 105)
GrabBall(packet, repo.Configuration.IsBlueTeam);
else
Kickball(packet, id, 5, repo.Configuration.IsBlueTeam);
}
else
{
if (Distance(packet.detection.robots_yellow[id].x, packet.detection.balls[0].x, packet.detection.robots_yellow[id].y, packet.detection.balls[0].y) > 105)
GrabBall(packet, repo.Configuration.IsBlueTeam);
else
Kickball(packet, id, 5, repo.Configuration.IsBlueTeam);
}
}
public void Kickball(SSL_WrapperPacket packet, int id, float speed, bool IsBlue)
{
if (IsBlue)
{
repo.OutData[id].KickSpeed = speed;
//DataHandler.WriteKickSpeed(speed, id);
System.Threading.Thread.Sleep(100);
repo.OutData[id].KickSpeed = 0;
//DataHandler.WriteKickSpeed(0, id);
repo.OutData[id].Grab = false;
//DataHandler.Dribble[id] = false;
}
else
{
repo.OutData[id].KickSpeed = speed;
//DataHandler.WriteKickSpeed(speed, id);
System.Threading.Thread.Sleep(100);
repo.OutData[id].KickSpeed = 0;
//DataHandler.WriteKickSpeed(0, id);
repo.OutData[id].Grab = false;
//DataHandler.Dribble[id] = false;
}
}
public void GrabBall(SSL_WrapperPacket packet, bool IsBlue)
{
if (IsBlue)
{
IRobotInfo final = new RobotParameters(packet.detection.balls[0].x, packet.detection.balls[0].y,
(float)Math.Atan2(packet.detection.balls[0].y - packet.detection.robots_blue[OwnAttackerId].y,
packet.detection.balls[0].x - packet.detection.robots_blue[OwnAttackerId].x));
repo.OutData[OwnAttackerId].X = final.X;
repo.OutData[OwnAttackerId].X = final.Y;
repo.OutData[OwnAttackerId].X = final.W;
//DataHandler.WriteReference(final, Attacker_Blue);
repo.OutData[OwnAttackerId].Grab = true;
//DataHandler.Dribble[Attacker_Blue] = true;
}
else
{
IRobotInfo final = new RobotParameters(packet.detection.balls[0].x, packet.detection.balls[0].y,
(float)Math.Atan2(packet.detection.balls[0].y - packet.detection.robots_yellow[OppAttackerId].y,
packet.detection.balls[0].x - packet.detection.robots_yellow[OppAttackerId].x));
repo.OutData[OppAttackerId].X = final.X;
repo.OutData[OppAttackerId].X = final.Y;
repo.OutData[OppAttackerId].X = final.W;
//DataHandler.WriteReference(final, Attacker_Yellow);
repo.OutData[OppAttackerId].Grab = true;
//DataHandler.Dribble[Attacker_Yellow] = true;
}
}
public void GoNearBall(SSL_WrapperPacket packet, bool IsBlue, float conf)
{
if (IsBlue)
{
float dis = Distance(packet.detection.robots_blue[OwnAttackerId].x, packet.detection.balls[0].x, packet.detection.robots_blue[OwnAttackerId].y, packet.detection.balls[0].y);
float angle = (float)Math.Atan2(packet.detection.balls[0].y - packet.detection.robots_blue[OwnAttackerId].y, packet.detection.balls[0].x - packet.detection.robots_blue[OwnAttackerId].x);
dis -= conf;
IRobotInfo Target = new RobotParameters(packet.detection.robots_blue[OwnAttackerId].x + (float)(dis * Math.Cos(angle)), packet.detection.robots_blue[OwnAttackerId].y + (float)(dis * Math.Sin(angle)), (float)Math.Atan2(0 - packet.detection.balls[0].y, 3025 - packet.detection.balls[0].x));
repo.OutData[OwnAttackerId].X = Target.X;
repo.OutData[OwnAttackerId].Y = Target.Y;
repo.OutData[OwnAttackerId].W = Target.W;
//DataHandler.WriteReference(Target, Attacker_Blue);
}
}
public void GoNearandRotate(SSL_WrapperPacket packet, bool IsBlue, float conf, IRobotInfo target)
{
if (Distance(packet.detection.robots_blue[OwnAttackerId].x, packet.detection.balls[0].x, packet.detection.robots_blue[OwnAttackerId].y, packet.detection.balls[0].y) > conf)
GoNearBall(packet, true, conf - 200);
else
{
rotateabout(packet, target, 350);
}
}
/// <summary>
/// Parse the input packet so it is available on the parser's call
/// </summary>
/// <param name="packet">Input packet</param>
public void ParsePacket(SSL_WrapperPacket packet)
{
if (packet != null)
{
if (_isBlue)
{
foreach (SSL_DetectionRobot ownRobot in packet.detection.robots_blue)
_ownRobots[ownRobot.robot_id].Insert(ownRobot);
foreach (SSL_DetectionRobot opponentRobot in packet.detection.robots_yellow)
_opponentRobots[opponentRobot.robot_id].Insert(opponentRobot);
}
else
{
foreach (SSL_DetectionRobot ownRobot in packet.detection.robots_yellow)
_ownRobots[ownRobot.robot_id].Insert(ownRobot);
foreach (SSL_DetectionRobot opponentRobot in packet.detection.robots_blue)
_opponentRobots[opponentRobot.robot_id].Insert(opponentRobot);
}
_balls.Insert(packet.detection.balls);
if (packet.geometry != null)
lock (_geoLock)
{
_geoData = packet.geometry;
}
}
}
public IRobotInfo[] PlanExclusive(SSL_WrapperPacket mainPacket)
{
for (int i = 0; i < _gamePads.Length; i++)
{
if (_gamePads[i].Acquire().IsFailure)
continue;
if (_gamePads[i].Poll().IsFailure)
continue;
_states[i] = _gamePads[i].GetCurrentState();
if (Result.Last.IsFailure)
continue;
else
{
IRobotInfo robotInfo = new RobotParameters();
robotInfo.Id = 1;
//Get Current Robot Position
//Set Next Robot Position By adding the GamePad Values in Current Positon
// example
//currVAlX += _states[i].X;
//currVALY += _states[i].Y;
//currVALZ += _states[i].Z;
//Call GrabBall Function from AI AIPlanner if you want (To Rotate and Go to that point)
//Call GotoBall Function from AI AIPlanner if you want (TO Goto that point with Same direction)
//Send Value to PID;
//Write values to _repReference.OutData
return new[] {robotInfo};
}
}
return null;
}