private void UpdateVisibility(VisionState nvs)
{
if (VisionState != nvs)
{
VisionState = nvs;
if (VisibleObject)
{
VisibleObject.SetActive(nvs == VisionState.VISIBLE);
}
if (HiddenObject)
{
HiddenObject.SetActive(nvs == VisionState.HIDDEN);
}
if (SeenObject)
{
SeenObject.SetActive(nvs == VisionState.SEEN);
}
UpdateParticleSystems(nvs);
//foreach (var r in GetComponentsInChildren<Renderer>()) r.enabled = (nvs != VisionState.HIDDEN);
foreach (var obj in mapObjects.Values)
{
ApplyVisibilityToObject(obj);
}
}
}
private bool IsPointingAt(string objName, double offset)
{
m_memory.waitForNewInfo();
SeenObject myObj = null;
myObj = m_memory.GetSeenObject(objName);
if (myObj == null)
{
return(false);
}
return(Math.Abs(myObj.Direction.Value) < offset);
}
public SeenObject GetSeenObject(String name)
{
SeenObject result = null;
if (m_info == null)
{
waitForNewInfo();
}
lock (m_info?.m_seenObjects)
{
result = m_info?.m_seenObjects.FirstOrDefault(player => player.Name == name);
}
return(result);
}
public void ParseSeeMessage()
{
if (!m_message.StartsWith("(see"))
{
return;
}
var objectsMatch = Regex.Matches(m_message, MagicPattern);
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 SeenObject(name, floatParams);
lock (m_seenObjects)
{
m_seenObjects.Add(seenObject);
}
}
}
void GotoGoal()
{
var myGoalStr = m_side == 'l' ? "goal l" : "goal r";
SeenObject myGoal = FindGoal(myGoalStr);
var ballObj = FindMovingObj("ball");
var tolerance = ballObj.Distance.Value > 1.5 ? 0.8 : 5.0;
while (myGoal.Distance.Value > tolerance)
{
m_robot.Dash(50 * myGoal.Distance.Value);
myGoal = FindGoal(myGoalStr);
}
if (ballObj.Distance.Value < 1.0)
{
var otherGoalStr = m_side == 'l' ? "goal r" : "goal l";
var goalObj = FindMovingObj(otherGoalStr);
Thread.Sleep(2 * SoccerParams.simulator_step);
m_robot.Kick(100, goalObj.Direction.Value);
Thread.Sleep(2000);
}
}
public override void play()
{
// first ,ove to start position
m_robot.Move(m_startPosition.X, m_startPosition.Y);
while (!m_timeOver)
{
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.
try
{
Thread.Sleep(SoccerParams.simulator_step);
}
catch (Exception e)
{
}
}
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($"player Brazil 4");
//var coachGoalObject = m_coach.GetSeenCoachObject(goalstr);
//if (player2.DistanceTo(coachGoalObject) < myPlayer2.DistanceTo(coachGoalObject))
//{
// m_robot.Kick(20, myPlayer2.AngleToKick(player2));
//}
else
{
if (goal.Distance > 25)
{
m_robot.Kick(20, goal.Direction.Value);
}
else
{
m_robot.Kick(150, goal.Direction.Value + 12);
}
}
}
// sleep one step to ensure that we will not send
// two commands in one cycle.
try
{
Thread.Sleep(SoccerParams.simulator_step);
}
catch (Exception e)
{
}
}
}
public override void play()
{
// first ,ove to start position
m_robot.Move(m_startPosition.X, m_startPosition.Y);
// Move to start possition.
PointF startPoint;
if (m_side == 'l')
{
startPoint = (PointF)FlagNameToPointF.Convert("goal l");
startPoint.X += 1;
}
else
{
startPoint = (PointF)FlagNameToPointF.Convert("goal r");
startPoint.X -= 1;
}
while (!goToCoordinate(startPoint, 1))
{
}
TurnToAngle0(); // Turn to the opponent's goal.
while (!m_timeOver)
{
try
{
SeenObject ball = null;
SeenObject goal = null;
while (ball == null || ball.Distance > 1.5)
{
//Get field information from god (coach).
var ballPosByCoach = m_coach.GetSeenCoachObject("ball");
if (ballPosByCoach != null && ballPosByCoach.Pos != null)
{
//Console.WriteLine($"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();
}
