Improvements on attacker

project-neon · Mar 8, 2019 · a4a53ca · a4a53ca
1 parent 0074bb2
commit a4a53ca
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Showing 4 changed files with 138 additions and 16 deletions.
diff --git a/lib/Coach.js b/lib/Coach.js
@@ -4,21 +4,17 @@ const GoalKeeper = require('../players/experimental/GoalkeeperMain')
 const GoalKeeperSides = require('../players/experimental/GoalkeeperSides')
 const GoalKeeperPush = require('../players/experimental/GoalkeeperPush')
 const FieldConstraints = require('../entities/FieldConstraints')
-
 const Attacker = require('../players/experimental/Attacker')
 const AttackerFoward = require('../players/experimental/AttackerFoward')
-
-const Rules = require('../players/experimental/RulePlays')
-
 const Vector = require('../lib/Vector')
+const AttackerSides = require('../players/experimental/AttackerSides')
+const AttackerAvoidSides = require('../players/experimental/AttackerAvoidSides')
 
 module.exports = class Coach {
   constructor(dependencies) {
       this.match = dependencies.match
       this.robotsProperties = this.match.robotsProperties
-
       this.currentOrder = {}
-
       this.init()
   }
 
@@ -38,7 +34,9 @@ module.exports = class Coach {
 
    this.attacker = {
     main: new Attacker(0, this.match, null),
-    foward: new AttackerFoward(0, this.match, null)
+    foward: new AttackerFoward(0, this.match, null),
+    sides: new AttackerSides(0, this.match, null),
+    avoidSides: new AttackerAvoidSides(0, this.match, null)
   }
 
   }
@@ -97,12 +95,8 @@ module.exports = class Coach {
     })
 
     _.values(robots).map(robot => {
-      let robotPos = robot.robots.self.position
-      let ballPos = this.match.dataManager.ball
       if(robot.radioId == this.goalkeeperId) {
-
         if (!ball) robot.runningPlay = this.goalkeeper.main
-
         if (this.insideFieldConstraint(FieldConstraints.SMALL_AREA_CENTER, ball)) {
           robot.runningPlay = this.goalkeeper.push
           this.goalkeeper.push.setRobot(robot)
@@ -121,12 +115,26 @@ module.exports = class Coach {
         let ballToCenterGoal = Vector.sub({x: 700, y: 0}, ball)
         let robotToBall = Vector.sub(ball, robotPos)
         let angle = Vector.toDegrees(Vector.angleBetween(ballToCenterGoal, robotToBall))
-        if(Math.abs(angle) < 10) {
+        if (Math.abs(ball.y) > 500 && Math.abs(robotPos.y) > 500) {
+
+          if (robotPos.x < ball.x) {
+            robot.runningPlay = this.attacker.sides
+            this.attacker.sides.setRobot(robot)
+            console.log('laterais')
+          } else {
+            robot.runningPlay = this.attacker.avoidSides
+            this.attacker.avoidSides.setRobot(robot)
+            console.log('laterais atras')
+          }
+
+        } else if(Math.abs(angle) < 10) {
           robot.runningPlay = this.attacker.foward
           this.attacker.foward.setRobot(robot)
-        }else {
+          console.log('atacando')
+        } else {
           robot.runningPlay = this.attacker.main
           this.attacker.main.setRobot(robot)
+          console.log('padrão')
         }
 
       } else {

diff --git a/players/experimental/AttackerAvoidSides.js b/players/experimental/AttackerAvoidSides.js
@@ -0,0 +1,35 @@
+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 = 100
+
+module.exports = class AttackerAvoidSides extends RulePlays {
+    setup () {
+        super.setup()
+        let ball = () => {
+          let ball = {x: this.match.dataManager.ball.x, y: this.match.dataManager.ball.y}
+          let ballSide = ball.y/Math.abs(ball.y)
+
+
+          return {x: ball.x, y: ball.y - ballSide * 100}
+        }
+
+        this.addIntetion(new PointIntention('goBallSides', {
+          target: ball,
+          radius: 150,
+          decay: TensorMath.new.constant(1).deadWidth(0.15).finish,
+          multiplier: 60
+        }))
+
+      }
+      loop(){
+
+      }
+}
diff --git a/players/experimental/AttackerFoward.js b/players/experimental/AttackerFoward.js
@@ -11,7 +11,17 @@ const RulePlays = require('./RulePlays')
 const BASE_SPEED = 65
 
 module.exports = class AttackerForward extends RulePlays {
+
+    isLeft(P0, P1, P2 ) {
+      return ( (P1.x - P0.x) * (P2.y - P0.y) - (P2.x - P0.x) * (P1.y - P0.y) )
+    }
+    pointInRectangle(X, Y, Z, W, P) {
+      return (this.isLeft(X, Y, P) > 0 && this.isLeft(Y, Z, P) > 0 && this.isLeft(Z, W, P) > 0 && this.isLeft(W, X, P) > 0)
+    }
+
     setup () {
+        this.attackingLock = false
+
         super.setup()
         let ball = () => {
             let ball = {x: this.match.dataManager.ball.x, y: this.match.dataManager.ball.y}
@@ -52,16 +62,30 @@ module.exports = class AttackerForward extends RulePlays {
         }))
 
       }
-      loop(){
+      loop () {
           let ball = {x: this.match.dataManager.ball.x, y: this.match.dataManager.ball.y}
-          let robotDir = Vector.fromTheta(this.orientation)
+          let robotDir = Vector.norm(Vector.fromTheta(this.orientation))
           let robotToBall = Vector.sub(this.position, ball)
           let angle = Vector.toDegrees(Vector.angleBetween(robotDir, robotToBall))
+          let normVector = Vector.fromTheta(Vector.toDegrees(this.orientation) + 90)
+          normVector = Vector.norm(normVector)
+          let robotLeft = {x: this.position.x + normVector.x * 40, y: this.position.y + normVector.y * 40}
+          let robotRight = {x: this.position.x - normVector.x * 40, y: this.position.y - normVector.y * 40}
+          let robotLeftFinal = {x: robotLeft.x + robotDir.x * 400, y: robotLeft.y + robotDir.y * 400}
+          let robotRightFinal = {x: robotRight.x + robotDir.x * 400, y: robotRight.y + robotDir.y * 400}
 
-          if (Math.abs(angle) > 20 && Math.abs(angle) < 160) {
+          let insideRectangle = this.pointInRectangle(robotLeft, robotRight, robotLeftFinal, robotRightFinal, ball)
+          if (this.attackingLock && insideRectangle) {
+            this.attackingLock = true
+            this.$lookAtBall.weight = 0
+            this.$Attack.weight = 1
+            this.$followBall = 0.5
+          }
+          else if (Math.abs(angle) > 20 && Math.abs(angle) < 160 && !this.attackingLock) {
             this.$lookAtBall.weight = 1
             this.$Attack.weight = 0
           } else {
+            this.attackingLock = true
             this.$lookAtBall.weight = 0
             this.$Attack.weight = 1
             this.$followBall = 0.5

diff --git a/players/experimental/AttackerSides.js b/players/experimental/AttackerSides.js
@@ -0,0 +1,55 @@
+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 AttackerSides extends RulePlays {
+
+  setup () {
+    super.setup()
+
+    let ball = () => {
+      let ball = {x: this.match.dataManager.ball.x, y: this.match.dataManager.ball.y}
+      return ball
+    }
+
+    this.addIntetion(new PointIntention('goBallSides', {
+      target: ball,
+      radius: 150,
+      decay: TensorMath.new.constant(1).deadWidth(0.15).finish,
+      multiplier: 60
+    }))
+
+    this.addIntetion(new LineIntention('avoidHitSide', {
+      target: {x: 0, y: -655},
+      theta: Vector.direction("right"),
+      lineSize: 2000, // Largura do segmento de reta
+      lineDist: 100, // Tamanho da repelência
+      lineDistMax:100,
+      lineDistSingleSide: true,
+      decay: TensorMath.new.mult(-1).finish,
+      multiplier: 30
+    }))
+
+    this.addIntetion(new LineIntention('avoidHitSide', {
+      target: {x: 0, y: 655},
+      theta: Vector.direction("left"),
+      lineSize: 2000, // Largura do segmento de reta
+      lineDist: 100, // Tamanho da repelência
+      lineDistMax:100,
+      lineDistSingleSide: true,
+      decay: TensorMath.new.mult(-1).finish,
+      multiplier: 30
+    }))
+  }
+
+  loop () {}
+
+}