worldmodel.cpp

mersad源码 03年robocup 季军 可以研究一下大家

	unsigned i;
	bool isGoalieInList = false;
	
	for (int i = 0; i < FULL_PLAYERS_NUM; i++)
		if (getFullPlayer(TID_OPPONENT,i).isValid() &&
			getFullPlayer(TID_OPPONENT,i).isGoalie())
			isGoalieInList = true;

	for (int i = 0; i < HALF_PLAYERS_NUM; i++)
		if (getHalfPlayer(TID_OPPONENT,i).isValid() &&
			getHalfPlayer(TID_OPPONENT,i).isGoalie())
			isGoalieInList = true;
			
			
	
	if (isGoalieInList)
	{
		offsideLine = -0xFFFF;
		for (i = 0; i < FULL_PLAYERS_NUM; i++)
			if (getFullPlayer(TID_OPPONENT,i).isValid() &&
				getFullPlayer(TID_OPPONENT,i).getPos().getX() > offsideLine &&
				!getFullPlayer(TID_OPPONENT,i).isGoalie()) 
				offsideLine = getFullPlayer(TID_OPPONENT,i).getPos().getX();

		for (i = 0; i < HALF_PLAYERS_NUM; i++)
			if (getHalfPlayer(TID_OPPONENT,i).isValid() &&
				getHalfPlayer(TID_OPPONENT,i).getPos().getX() > offsideLine &&
				!getHalfPlayer(TID_OPPONENT,i).isGoalie())
				offsideLine = getHalfPlayer(TID_OPPONENT,i).getPos().getX();
	}
	else
	{
		float firstMaxX = -0xFFFF, secMaxX = -0xFFFF;
		for (i = 0; i < FULL_PLAYERS_NUM; i++)
			if (getFullPlayer(TID_OPPONENT,i).isValid() &&
				getFullPlayer(TID_OPPONENT,i).getPos().getX() > secMaxX)
				{
					secMaxX = getFullPlayer(TID_OPPONENT,i).getPos().getX();
					if (secMaxX > firstMaxX)
						swap(firstMaxX, secMaxX);
				}

		for (i = 0; i < HALF_PLAYERS_NUM; i++)
			if (getHalfPlayer(TID_OPPONENT,i).isValid() &&
				getHalfPlayer(TID_OPPONENT,i).getPos().getX() > secMaxX)
				{
					secMaxX = getHalfPlayer(TID_OPPONENT,i).getPos().getX();
					if (secMaxX > firstMaxX)
						swap(firstMaxX, secMaxX);
				}
		offsideLine = secMaxX;		
	
	}

	if (isBallFlag)
		if (offsideLine < getBall().getPos().getX())
			offsideLine = getBall().getPos().getX();

	if (offsideLine < 0)
		offsideLine = 0;
		
	return offsideLine;
}


float WorldModel::getTmmOffsideLine(bool isBallFlag) const
{
	float offsideLine;
	unsigned i;
	bool isGoalieInList = false;
	
	for (int i = 0; i < FULL_PLAYERS_NUM; i++)
		if (getFullPlayer(TID_TEAMMATE,i).isValid() &&
			getFullPlayer(TID_TEAMMATE,i).isGoalie())
			isGoalieInList = true;

	for (int i = 0; i < HALF_PLAYERS_NUM; i++)
		if (getHalfPlayer(TID_TEAMMATE,i).isValid() &&
			getHalfPlayer(TID_TEAMMATE,i).isGoalie())
			isGoalieInList = true;
			
			
	
	if (isGoalieInList)
	{
		offsideLine = 0xFFFF;
		for (i = 0; i < FULL_PLAYERS_NUM; i++)
			if (getFullPlayer(TID_TEAMMATE,i).isValid() &&
				getFullPlayer(TID_TEAMMATE,i).getPos().getX() < offsideLine &&
				!getFullPlayer(TID_TEAMMATE,i).isGoalie()) 
				offsideLine = getFullPlayer(TID_TEAMMATE,i).getPos().getX();

		for (i = 0; i < HALF_PLAYERS_NUM; i++)
			if (getHalfPlayer(TID_TEAMMATE,i).isValid() &&
				getHalfPlayer(TID_TEAMMATE,i).getPos().getX() < offsideLine &&
				!getHalfPlayer(TID_TEAMMATE,i).isGoalie())
				offsideLine = getHalfPlayer(TID_TEAMMATE,i).getPos().getX();
	}
	else
	{
		float firstMaxX = 0xFFFF, secMaxX = 0xFFFF;
		for (i = 0; i < FULL_PLAYERS_NUM; i++)
			if (getFullPlayer(TID_TEAMMATE,i).isValid() &&
				getFullPlayer(TID_TEAMMATE,i).getPos().getX() < secMaxX)
				{
					secMaxX = getFullPlayer(TID_TEAMMATE,i).getPos().getX();
					if (secMaxX < firstMaxX)
						swap(firstMaxX, secMaxX);
				}

		for (i = 0; i < HALF_PLAYERS_NUM; i++)
			if (getHalfPlayer(TID_TEAMMATE,i).isValid() &&
				getHalfPlayer(TID_TEAMMATE,i).getPos().getX() < secMaxX)
				{
					secMaxX = getHalfPlayer(TID_TEAMMATE,i).getPos().getX();
					if (secMaxX < firstMaxX)
						swap(firstMaxX, secMaxX);
				}
		offsideLine = secMaxX;		
	
	}

	if (isBallFlag)
		if (offsideLine > getBall().getPos().getX())
			offsideLine = getBall().getPos().getX();

	if (offsideLine > 0)
		offsideLine = 0;
		
	return offsideLine;
}


int WorldModel::getOppPlayersBeforeLine(float lineX) const
{
	int counter = 0;
	register int i;

	for (i = 0; i < FULL_PLAYERS_NUM; i++)
		if (getFullPlayer(TID_OPPONENT,i).isValid() &&
			getFullPlayer(TID_OPPONENT,i).getPos().getX() <= lineX)
		{
			if (!getFullPlayer(TID_OPPONENT,i).isGoalie())
				counter++;
			else
				counter += 3;
		}

	for (i = 0; i < HALF_PLAYERS_NUM; i++)
		if (getHalfPlayer(TID_OPPONENT,i).isValid() &&
			getHalfPlayer(TID_OPPONENT,i).getPos().getX() <= lineX)
		{
			if (!getHalfPlayer(TID_OPPONENT,i).isGoalie())
				counter++;
			else
				counter += 3;
		}
	
	return counter;
}

int WorldModel::getOppPlayersBetweenLines(float line1X, float line2X) const
{
	return getOppPlayersBeforeLine(line2X) - getOppPlayersBeforeLine(line1X);
}

const Player *WorldModel::getTmmGoalie() const
{
	for (unsigned i = 0; i < FULL_PLAYERS_NUM; i++)
		if (getFullPlayer(TID_TEAMMATE, i).isValid() &&
			getFullPlayer(TID_TEAMMATE, i).isGoalie())
			return fullPlayers[TID_TEAMMATE][i];

	for (unsigned i = 0; i < HALF_PLAYERS_NUM; i++)
		if (getHalfPlayer(TID_TEAMMATE, i).isValid() &&
			getHalfPlayer(TID_TEAMMATE, i).isGoalie())
			return halfPlayers[TID_TEAMMATE][i];

	return NULL;
}

const Player *WorldModel::getOppGoalie() const
{
	for (unsigned i = 0; i < FULL_PLAYERS_NUM; i++)
		if (getFullPlayer(TID_OPPONENT, i).isValid() &&
			getFullPlayer(TID_OPPONENT, i).isGoalie())
			return fullPlayers[TID_OPPONENT][i];

	for (unsigned i = 0; i < HALF_PLAYERS_NUM; i++)
		if (getHalfPlayer(TID_OPPONENT, i).isValid() &&
			getHalfPlayer(TID_OPPONENT, i).isGoalie())
			return halfPlayers[TID_OPPONENT][i];

	return NULL;
}

void WorldModel::parseHear(const SExpression &exp)
{
	float hearDir;
	unsigned hearCycle;
	unsigned senderNum;
	SExpAtomic *at;
	SExpression *exp2;

	resetHearedNums();

	at = dynamic_cast<SExpAtomic *>(exp[1]);
	assert(at);
	hearCycle = at->asInt();

	at = dynamic_cast<SExpAtomic *>(exp[2]);
	assert(at);

	if (at->toString() == "referee")
	{
		parseRefereeHear(exp);
		refereeHearTime = curTime;
	}
	else if (at->toString().substr(0, 12) == "online_coach")
	{
		if ((fieldSide == SI_LEFT && at->toString().substr(13, 4) == "left") ||
			(fieldSide == SI_RIGHT && at->toString().substr(13, 5) == "right"))
		{ // teammate coach.
			exp2 = dynamic_cast<SExpression *>(exp[3]);
			assert(exp2);
			parseTeammateCoachHear(*exp2);
		}
		else
		{ // opponent coach.
		}
	}
	else if (at->toString() == "self")
	{
		at = dynamic_cast<SExpAtomic *>(exp[3]);
		assert(at);
		selfHear(at->toString());
	}
	else // a player has said that.
	{
		at = dynamic_cast<SExpAtomic *>(exp[2]);
		assert(at);
		hearDir = at->asInt();

		at = dynamic_cast<SExpAtomic *>(exp[3]);
		assert(at);
		if (at->toString() == "our")
		{
			at = dynamic_cast<SExpAtomic *>(exp[4]);
			assert(at);
			senderNum = at->asInt();

			at = dynamic_cast<SExpAtomic *>(exp[5]);
			assert(at);
			teammateHear(hearDir, senderNum, at->toString());
		}
		else
		{
			assert(at->toString() == "opp");

			at = dynamic_cast<SExpAtomic *>(exp[4]);
			assert(at);
			opponentHear(hearDir, at->toString());
		}
	}

}

void WorldModel::parseRefereeHear(const SExpression &exp)
{
	SExpAtomic *at;

	at = dynamic_cast<SExpAtomic *>(exp[3]);
	assert(at);

	playModeRemainCycle = 0;

	// normal PlayModes
	if (at->toString() == "before_kick_off")
		playMode = PM_BEFORE_KICK_OFF;

	else if (at->toString() == "play_on")
	{
		playMode = PM_PLAY_ON;
		virtualPlayMode = VPM_NONE;
		playOnStartCycle = curTime;
	}

	else if (at->toString() == "kick_off_l")
	{
		if (fieldSide == SI_LEFT)
			playMode = PM_KICK_OFF;
		else
			playMode = PM_KICK_OFF_OPP;

		playModeRemainCycle = 200;

		ball->updateByHear(0, 0, 0, 0, *body);
	}
	else if (at->toString() == "kick_off_r")
	{
		if (fieldSide == SI_RIGHT)
			playMode = PM_KICK_OFF;
		else
			playMode = PM_KICK_OFF_OPP;

		playModeRemainCycle = 200;
		ball->updateByHear(0, 0, 0, 0, *body);
	}

	else if (at->toString() == "free_kick_l")
	{
		if (fieldSide == SI_LEFT)
			playMode = PM_FREE_KICK;
		else
			playMode = PM_FREE_KICK_OPP;

		playModeRemainCycle = 200;
	}
	else if (at->toString() == "free_kick_r")
	{
		if (fieldSide == SI_RIGHT)
			playMode = PM_FREE_KICK;
		else
			playMode = PM_FREE_KICK_OPP;

		playModeRemainCycle = 200;
	}

	else if (at->toString() == "indirect_free_kick_l")
	{
		if (fieldSide == SI_LEFT)
		{
			playMode = PM_FREE_KICK;
			virtualPlayMode = VPM_INDIRECT_FREE_KICK;
		}
		else
		{
			playMode = PM_FREE_KICK_OPP;
			virtualPlayMode = VPM_INDIRECT_FREE_KICK_OPP;
		}

		playModeRemainCycle = 200;
	}
	else if (at->toString() == "indirect_free_kick_r")
	{
		if (fieldSide == SI_RIGHT)
		{
			playMode = PM_FREE_KICK;
			virtualPlayMode = VPM_INDIRECT_FREE_KICK;
		}
		else
		{
			playMode = PM_FREE_KICK_OPP;
			virtualPlayMode = VPM_INDIRECT_FREE_KICK_OPP;
		}

		playModeRemainCycle = 200;
	}

	else if (at->toString() == "kick_in_l")
	{
		if (fieldSide == SI_LEFT)
			playMode = PM_KICK_IN;
		else
			playMode = PM_KICK_IN_OPP;

		playModeRemainCycle = 200;
	}
	else if (at->toString() == "kick_in_r")
	{
		if (fieldSide == SI_RIGHT)
			playMode = PM_KICK_IN;
		else
			playMode = PM_KICK_IN_OPP;

		playModeRemainCycle = 200;
	}

	else if (at->toString() == "offside_l")
	{
		if (fieldSide == SI_LEFT)
			playMode = PM_OFFSIDE;
		else
			playMode = PM_OFFSIDE_OPP;

		playModeRemainCycle = 30;
	}
	else if (at->toString() == "offside_r")
	{
		if (fieldSide == SI_RIGHT)
			playMode = PM_OFFSIDE;
		else
			playMode = PM_OFFSIDE_OPP;

		playModeRemainCycle = 30;
	}

	else if (at->toString() == "goal_kick_l")
	{
		if (fieldSide == SI_LEFT)
			playMode = PM_GOAL_KICK;
		else
			playMode = PM_GOAL_KICK_OPP;

		virtualPlayMode = VPM_NONE;
		playModeRemainCycle = 200;
	}
	else if (at->toString() == "goal_kick_r")
	{
		if (fieldSide == SI_RIGHT)
			playMode = PM_GOAL_KICK;
		else
			playMode = PM_GOAL_KICK_OPP;

		virtualPlayMode = VPM_NONE;
		playModeRemainCycle = 200;
	}

	else if (at->toString() == "corner_kick_l")
	{
		if (fieldSide == SI_LEFT)
			playMode = PM_CORNER_KICK;
		else
			playMode = PM_CORNER_KICK_OPP;

		playModeRemainCycle = 200;
	}
	else if (at->toString() == "corner_kick_r")
	{
		if (fieldSide == SI_RIGHT)
			playMode = PM_CORNER_KICK;
		else
			playMode = PM_CORNER_KICK_OPP;

		playModeRemainCycle = 200;
	}

	else if (at->toString() == "free_kick_fault_l")
	{
		if (fieldSide == SI_LEFT)
			playMode = PM_FREE_KICK_FAULT;
		else
			playMode = PM_FREE_KICK_FAULT_OPP;

		playModeRemainCycle = 30;
	}
	else if (at->toString() == "free_kick_fault_r")
	{
		if (fieldSide == SI_RIGHT)
			playMode = PM_FREE_KICK_FAULT;
		else
			playMode = PM_FREE_KICK_FAULT_OPP;

		playModeRemainCycle = 30;
	}

	else if (at->toString() == "catch_fault_l")
	{
		if (fieldSide == SI_LEFT)
			playMode = PM_CATCH_FAULT;
		else
			playMode = PM_CATCH_FAULT_OPP;

		playModeRemainCycle = 30;
	}
	else if (at->toString() == "catch_fault_r")
	{
		if (fieldSide == SI_RIGHT)
			playMode = PM_CATCH_FAULT;
		else
			playMode = PM_CATCH_FAULT_OPP;

		playModeRemainCycle = 30;
	}

	else if (at->toString() == "penalty_setup_l")
	{
		if (fieldSide == SI_LEFT)
			playMode = PM_PENALTY_SETUP;
		else
			playMode = PM_PENALTY_SETUP_OPP;

		playModeRemainCycle = 100;
		virtualPlayMode = VPM_NONE;
	}
	else if (at->toString() == "penalty_setup_r")
	{
		if (fieldSide == SI_RIGHT)
			playMode = PM_PENALTY_SETUP;
		else
			playMode = PM_PENALTY_SETUP_OPP;

		playModeRemainCycle = 100;
		virtualPlayMode = VPM_NONE;
	}

	else if (at->toString() == "penalty_ready_l")
	{
		if (fieldSide == SI_LEFT)
			playMode = PM_PENALTY_READY;
		else
			playMode = PM_PENALTY_READY_OPP;

		playModeRemainCycle = 50;