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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,57 @@ | ||
| const IntentionPlayer = require('../IntentionPlayer') | ||
| const TensorMath = require('../../lib/TensorMath') | ||
| const Intention = require('../../Intention') | ||
| const LineIntention = require('../../Intention/LineIntention') | ||
| const PointIntention = require('../../Intention/PointIntention') | ||
| const LookAtIntention = require('../../Intention/LookAtIntention') | ||
| const Vector = require('../../lib/Vector') | ||
| const RulePlays = require('./RulePlays') | ||
|
|
||
| const BASE_SPEED = 50 | ||
|
|
||
| module.exports = class Midfielder extends RulePlays { | ||
| setup(){ | ||
| super.setup() | ||
| let ball = () => { | ||
| let ball = {x: this.match.dataManager.ball.x, y: this.match.dataManager.ball.y} | ||
| return ball | ||
| } | ||
|
|
||
| let followAttackerShadow = () => { | ||
| let pos = this.match.gameManager.coach.attackerRobot.robots.self.position | ||
| /* | ||
| A projeção não é usada nos casos onde: | ||
| - Não existe vetor projeção (ocorre no primeiro frame de execução) | ||
| - Velocidade da bola inferior a 1.2 cm/s (praticamente parada) | ||
| - Quando a bola ira bater longe do gol (acima de 30 cm em relação ao centro do gol) | ||
| */ | ||
| return {x: -250, y: -pos.y/2} | ||
| } | ||
|
|
||
| this.addIntetion(new LineIntention('KeepGoalLine', { | ||
| target: {x: -250, y: 0}, | ||
| theta: Vector.direction("up"), | ||
| lineSize: 1700, | ||
| lineDist: 260, | ||
| decay: TensorMath.new.finish, | ||
| multiplier: BASE_SPEED | ||
| })) | ||
|
|
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| this.addIntetion(new LineIntention('followAttackerShadow', { | ||
| target: followAttackerShadow, | ||
| theta: Vector.direction("left"), | ||
| lineSize: 1700, | ||
| lineDist: 250, | ||
| decay: TensorMath.new.finish, | ||
| multiplier: BASE_SPEED | ||
| })) | ||
|
|
||
| this.addIntetion(new LookAtIntention('LookAtBall', { | ||
| target: ball, | ||
| decay: TensorMath.new.constant(1).finish, | ||
| multiplier: 100 | ||
| })) | ||
| } | ||
| loop(){ | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,71 @@ | ||
| const IntentionPlayer = require('../IntentionPlayer') | ||
| const TensorMath = require('../../lib/TensorMath') | ||
| const Intention = require('../../Intention') | ||
| const LineIntention = require('../../Intention/LineIntention') | ||
| const PointIntention = require('../../Intention/PointIntention') | ||
| const LookAtIntention = require('../../Intention/LookAtIntention') | ||
| const OrbitalIntention = require('../../Intention/OrbitalIntention') | ||
| const Vector = require('../../lib/Vector') | ||
| const RulePlays = require('./RulePlays') | ||
|
|
||
| const BASE_SPEED = 65 | ||
|
|
||
| module.exports = class MidfieldDefender extends RulePlays { | ||
| setup () { | ||
| super.setup() | ||
| let ballAntecipation = () => { | ||
| let ball = {x: this.match.dataManager.ball.x, y: this.match.dataManager.ball.y} | ||
| let ballToCenterGoal = Vector.sub({x: 700, y: 0}, ball) | ||
| let ballToCenterGoalNorm = Vector.norm(ballToCenterGoal) | ||
| let antecipation = { | ||
| x: ballToCenterGoalNorm.x * 130, | ||
| y: ballToCenterGoalNorm.y * 130 | ||
| } | ||
| antecipation = {x: ball.x - antecipation.x, y: ball.y - antecipation.y} | ||
| return antecipation | ||
| } | ||
|
|
||
| let ball = () => { | ||
| let ball = {x: this.match.dataManager.ball.x, y: this.match.dataManager.ball.y} | ||
| return ball | ||
| } | ||
|
|
||
| let ballSpeedBasedMultiplier = () => { | ||
| let ballSpeed = Vector.size(this.match.dataManager.ball.speed) | ||
| let multiplier = Math.max(Math.min(ballSpeed + 30, 80), 55) | ||
| return multiplier | ||
| } | ||
|
|
||
| this.addIntetion(new PointIntention('goBall', { | ||
| target: ballAntecipation, | ||
| radius: 50, | ||
| decay: TensorMath.new.finish, | ||
| multiplier: ballSpeedBasedMultiplier, | ||
| })) | ||
|
|
||
| this.addIntetion(new LineIntention('avoidBallOwnGoal', { | ||
| target: ball, | ||
| theta: Vector.direction("down"), | ||
| lineSize: 50, // Largura do segmento de reta | ||
| lineDist: 180, // Tamanho da repelência | ||
| lineDistMax: 200, // Tamanho da repelência | ||
| lineDistSingleSide: true, | ||
| decay: TensorMath.new.mult(-1).finish, | ||
| multiplier: 55, | ||
| })) | ||
|
|
||
| this.addIntetion(new LineIntention('avoidBallOwnGoallateral', { | ||
| target: ball, | ||
| theta: Vector.direction("right"), | ||
| lineSize: 400, // Largura do segmento de reta | ||
| lineDist: 120, // Tamanho da repelência | ||
| lineDistMax: 130, // Tamanho da repelência | ||
| lineSizeSingleSide: true, | ||
| decay: TensorMath.new.constant(1).mult(-1).finish, | ||
| multiplier: 50, | ||
| })) | ||
|
|
||
| } | ||
| loop(){ | ||
| } | ||
| } |
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