goalieplayondecision.cpp

mersad源码 03年robocup 季军 可以研究一下大家

/*
 *  Copyright 2002-2004, Mersad Team, Allame Helli High School (NODET).
 *
 *  This program is free software, you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU Library General Public License for more details.
 *
 *  Created by: Meisam Vosoughpour
 *  Released on Friday 1 April 2005 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#include <math.h>

#include <GoalieIntercept.h>
#include <GoaliePositioning.h>
#include <Intercept.h>
#include <GoaliePlayOnDecision.h>
#include <Clear.h>
#include <BasicKick.h>


#define GOALIE_CATCH_NUM 0
#define CLEAR_NUM 1
#define GOALIE_INTERCEPT_NUM 2
#define INTERCEPT_NUM 3
#define GOALIE_POSITIONING_NUM 4

using namespace std;


GoaliePlayOnDecision::GoaliePlayOnDecision(
		const WorldModel *worldModel, SayDecisionFlags &sayFlags,
		TurnNeckMode &turnNeckMode):
		BodyDecision(worldModel, sayFlags, turnNeckMode)
{
	addAdvancedAction(new GoalieCatch(worldModel),
		AdvancedActionWeights(0, 1, 1), 2);
	addAdvancedAction(new Clear(worldModel),
		AdvancedActionWeights(0, 1, 1), 2);
	addAdvancedAction(new GoalieIntercept(worldModel),
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new Intercept(worldModel),
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new GoaliePositioning(worldModel),
		AdvancedActionWeights(0, 1, 1), 1);
}

GoaliePlayOnDecision::~GoaliePlayOnDecision()
{
}

bool GoaliePlayOnDecision::isBallOppKickable(float minExtra, float maxExtra)
{
	register int i;
	float kickableArea, virtualKickableArea;
	kickableArea = worldModel->getBall().getSize() + 
			worldModel->getBody().getKickableMargin() + 
			worldModel->getBody().getSize();
	
	virtualKickableArea = kickableArea + minExtra;
	
	for (i = 0; i < FULL_PLAYERS_NUM; i++)
		if (worldModel->getFullPlayer(TID_OPPONENT, i).isValid())
			if(worldModel->getFullPlayer(TID_OPPONENT, i).
					getDistance(worldModel->getBall()) 
				<=	(virtualKickableArea + min((float)(worldModel->getFullPlayer(
					TID_OPPONENT, i).getDistance(worldModel->getBody()) * .08),
					maxExtra) ))
				return true;
					
	for (i = 0; i < HALF_PLAYERS_NUM; i++)
		if (worldModel->getHalfPlayer(TID_OPPONENT, i).isValid())
			if(worldModel->getHalfPlayer(TID_OPPONENT, i).
					getDistance(worldModel->getBall()) 
				<=	(virtualKickableArea + min((float)(worldModel->getHalfPlayer(
					TID_OPPONENT, i).getDistance(worldModel->getBody()) * .08), 
					maxExtra) ))
				return true;


	return false;
}


DecideType GoaliePlayOnDecision::decide(int quickLevel, DecideType lastDecide)
{
	resetQuickLevels();

	if (worldModel->getBall().getPos().getX() < -36.4 &&
		worldModel->getBody().getPos().getX() < -36.4 &&
		fabs(worldModel->getBall().getPos().getY()) < 19.6 &&
		fabs(worldModel->getBody().getPos().getY()) < 19.6)
	{
	}
	else if (worldModel->isBallKickable())
	{
		if (worldModel->getBall().getPos().getY() > 0)
			command = FastKickToDir(90, worldModel->getBall(),
				worldModel->getBody()).getCommand();
		else
			command = FastKickToDir(-90, worldModel->getBall(),
				worldModel->getBody()).getCommand();

		return DT_NONE;
	}

	quickLevels[GOALIE_CATCH_NUM] = 2;
	quickLevels[CLEAR_NUM] = 2;

	dynamic_cast<GoalieCatch *>(advancedActions[GOALIE_CATCH_NUM])->
				giveLastDecide(lastDecide);

	if (worldModel->getCurInterCalculate().existFastestTmmPlayer() && (
		(worldModel->getCurInterCalculate().getFastestTmmPlayer().isBody() &&
		!isBallOppKickable(.2,1.5)) || 
		(worldModel->isOppBallShooted(worldModel->getBall()) && 
		!worldModel->isBallInOppKickable())))
	{ // Intercept
		quickLevels[GOALIE_INTERCEPT_NUM] = 1;
		quickLevels[INTERCEPT_NUM] = 1;
		
	}
	else
	{ // Positioning
		quickLevels[GOALIE_POSITIONING_NUM] = 1;
	}

	if (worldModel->getBall().getAbsVec().getMagnitude() < 20)
		turnNeckMode = TNM_LOOK_CAREFULLY_TO_BALL;
	else
		turnNeckMode = TNM_LOOK_NORMALLY_TO_BALL;

	return BodyDecision::decide(quickLevel);
}