Add checks for opponent presence and offside line adjustments in action generators; update requirements

base/bhv_kick.py

@@ -17,6 +17,7 @@
     from lib.player.world_model import WorldModel
     from lib.player.player_agent import PlayerAgent
 
+from pyrusgeom.geom_2d import Vector2D
 
 class BhvKick:
     def __init__(self):
@@ -40,12 +41,17 @@ def execute(self, agent: 'PlayerAgent'):
 
             if len(action_candidates) == 0:
                 return self.no_candidate_action(agent)
-
+        
             best_action: KickAction = max(action_candidates)
 
             target = best_action.target_ball_pos
+            if target.x() >= wm.offside_line_x():
+                target = Vector2D(wm.offside_line_x() - 0.5, target.y())
+            if len(wm.opponents()) == 0 and best_action.type is KickActionType.Pass:
+                best_action = max(action_candidates, key=lambda x: x.eval and x.type is not KickActionType.Pass)         
             log.debug_client().set_target(target)
             log.debug_client().add_message(best_action.type.value + 'to ' + best_action.target_ball_pos.__str__() + ' ' + str(best_action.start_ball_speed))
+
             SmartKick(target, best_action.start_ball_speed, best_action.start_ball_speed - 1, 3).execute(agent)
 
             if best_action.type is KickActionType.Pass:

base/generator_dribble.py

@@ -50,7 +50,7 @@ def generate_simple_dribble(self, wm: 'WorldModel'):
         for a in range(angle_div):
             dash_angle = wm.self().body() + (angle_step * a)
 
-            if wm.self().pos().x() < 16.0 and dash_angle.abs() > 100.0:
+            if dash_angle.abs() > 100.0:
                 if debug_dribble:
                     log.sw_log().dribble().add_text( '#dash angle:{} cancel is not safe1'.format(dash_angle))
                 continue

base/generator_pass.py

@@ -180,7 +180,6 @@ def generate_lead_pass(self, wm: 'WorldModel', receiver):
             for a in range(abgle_divs + 1):
                 angle = angle_from_ball + angle_step * a
                 receive_point = receiver.inertia_point(1) + Vector2D.from_polar(player_move_dist, angle)
-
                 move_dist_penalty_step = 0
                 ball_move_line = Line2D(wm.ball().pos(), receive_point)
                 player_line_dist = ball_move_line.dist(receiver.pos())

base/generator_shoot.py

@@ -117,6 +117,9 @@ def check_shoot(self, wm: 'WorldModel', target_point: Vector2D, first_ball_speed
 
         for o in range(1, 12):
             opp = wm.their_player(o)
+            if opp is None:
+                log.sw_log().shoot().add_text( '## opp {} can not, none')
+                continue
             if opp.unum() < 1:
                 log.sw_log().shoot().add_text( '## opp {} can not, unum')
                 continue

requirements.txt

@@ -1,5 +1,6 @@
 coloredlogs==15.0.1
 humanfriendly==10.0
+setuptools==58.2.0
 numpy==1.24.2
 pyrusgeom==0.1.2
 scipy==1.10.1