field.c

在LINUX下运行的仿真机器人服务器源代码

        }
        for_each( M_referees.begin(), M_referees.end(), &Referee::doAnalyse );
    }
	else if (mode != PM_BeforeKickOff && mode != PM_TimeOver) 
    {
      motable._inc ( mode ) ;
      
      if( mode == PM_KickOff_Right || mode == PM_KickIn_Right ||
          mode == PM_FreeKick_Right
          )
        //|| mode == PM_CornerKick_Right ||
        //  mode == PM_GoalKick_Right )
        {
          clearPlayersFromBall( LEFT );

//            if (drop_ball_time > -1)
//              drop_ball_time--;
//            if (drop_ball_time == 0)
//              drop_ball();
        }
      if( mode == PM_KickOff_Left ||
          mode == PM_KickIn_Left || mode == PM_FreeKick_Left )
        //||
        //  mode == PM_CornerKick_Left || mode == PM_GoalKick_Left)
        {
          clearPlayersFromBall( RIGHT );

//            if (drop_ball_time > -1)
//              drop_ball_time--;
//            if (drop_ball_time == 0)
//              drop_ball();
        }

      if (ServerParam::instance().useoffside)
        offside_check() ;
      time++ ;
      referee_step() ;
      for_each( M_referees.begin(), M_referees.end(), &Referee::doAnalyse );
 		/* pfr - moved next line before if */
		prev_ball_pos = ball->pos ;
		if( M_caught_ball && mode != PM_BeforeKickOff )
        {
            move_caught_ball() ;
        }
		/* pfr 7/26/2000 */
		//printf("time: %d\t2ht: %d\n", time, 2*ServerParam::instance().half_time);
		if (time > 0 && ServerParam::instance().nr_normal_halfs > 0 &&
                    time % (ServerParam::instance().nr_normal_halfs*ServerParam::instance().halfTime() ) == 0 ){
		  //printf("Giving coachs more messages\n");
		  //every game time cycles, give the online coach more messages
		  if (olcoach[0]->freeform_messages_allowed > 0)
		    olcoach[0]->freeform_messages_allowed += ServerParam::instance().say_cnt_max;
		  if (olcoach[1]->freeform_messages_allowed > 0)
		    olcoach[1]->freeform_messages_allowed += ServerParam::instance().say_cnt_max;
		}


		dinfo.body.show.time = htons(time) ;
		dinfo2.body.show.time = htons(time) ;
	}
	for( i = 0 ; i < MAX_PLAYER * 2; i++ )
    {
      if( player[i]->alive == DISABLE )
        continue ;
      if( player[i]->stamina <= ( ServerParam::instance().recover_dthr
                                  * ServerParam::instance().stamina_max ) )
        {
          if( player[i]->recovery > ServerParam::instance().recover_min )
            player[i]->recovery -= ServerParam::instance().recover_dec;
          if( player[i]->recovery < ServerParam::instance().recover_min )
            player[i]->recovery = ServerParam::instance().recover_min;
        }
      if( player[i]->stamina <= ( ServerParam::instance().effort_dthr
                                  * ServerParam::instance().stamina_max ) )
        {
          if( player[i]->effort > player[i]->player_type->effortMin () )
            player[i]->effort -= ServerParam::instance().effort_dec ;
          if( player[i]->effort < player[i]->player_type->effortMin () )
            player[i]->effort = player[i]->player_type->effortMin () ;
        }
		if( player[i]->stamina >= ( ServerParam::instance().effort_ithr
                                * ServerParam::instance().stamina_max ) )
      {
        if( player[i]->effort < player[i]->player_type->effortMax () )
          {
            player[i]->effort += ServerParam::instance().effort_inc ;
            if( player[i]->effort > player[i]->player_type->effortMax () )
              player[i]->effort = player[i]->player_type->effortMax () ;
          }
      }
		player[i]->stamina += ( player[i]->recovery
                            * player[i]->player_type->staminaIncMax () );
		if( player[i]->stamina > ServerParam::instance().stamina_max )
			player[i]->stamina = ServerParam::instance().stamina_max ;

		player[i]->hear_capacity_from_teammate += ServerParam::instance().hearInc() ;
		if(player[i]->hear_capacity_from_teammate > (int)ServerParam::instance().hearMax() )
			player[i]->hear_capacity_from_teammate = ServerParam::instance().hearMax();

		player[i]->hear_capacity_from_opponent += ServerParam::instance().hearInc();
		if (player[i]->hear_capacity_from_opponent > (int)ServerParam::instance().hearMax() )
			player[i]->hear_capacity_from_opponent = ServerParam::instance().hearMax();

		if (player[i]->goalie_catch_ban)
			player[i]->goalie_catch_ban-- ;
	}
	/* send to displays */
	dinfo.body.show.pos[0].x = htons((short)rint((ball->pos.x * SHOWINFO_SCALE))) ;
	dinfo.body.show.pos[0].y = htons((short)rint((ball->pos.y * SHOWINFO_SCALE))) ;

	dinfo2.body.show.ball.x = htonl((long)rint((ball->pos.x * SHOWINFO_SCALE2))) ;
	dinfo2.body.show.ball.y = htonl((long)rint((ball->pos.y * SHOWINFO_SCALE2))) ;
	dinfo2.body.show.ball.deltax = htonl((long)rint((ball->vel.x * SHOWINFO_SCALE2))) ;
	dinfo2.body.show.ball.deltay = htonl((long)rint((ball->vel.y * SHOWINFO_SCALE2))) ;
	
        for (i = 0 ; i < MAX_PLAYER * 2 ; i++) {
		dinfo.body.show.pos[i+1].enable = htons(player[i]->alive) ;
		//player[i]->alive &= (STAND | GOALIE | DISCARD) ;
		dinfo.body.show.pos[i+1].x =
			htons((short)rint((player[i]->pos.x * SHOWINFO_SCALE))) ;
		dinfo.body.show.pos[i+1].y =
			htons((short)rint((player[i]->pos.y * SHOWINFO_SCALE))) ;
		dinfo.body.show.pos[i+1].angle = htons((short)Rad2IDegRound(player[i]->angle)) ;
		dinfo.body.show.pos[i+1].side = htons(player[i]->team->side) ;
		dinfo.body.show.pos[i+1].unum = htons(player[i]->unum) ;

		dinfo2.body.show.pos[i].mode = htons(player[i]->alive) ;
		dinfo2.body.show.pos[i].type = htons(player[i]->player_type_id);

		//player[i]->alive &= (STAND | GOALIE | DISCARD) ;
		dinfo2.body.show.pos[i].x = htonl((long)rint((player[i]->pos.x * SHOWINFO_SCALE2))) ;
		dinfo2.body.show.pos[i].y = htonl((long)rint((player[i]->pos.y * SHOWINFO_SCALE2))) ;
		dinfo2.body.show.pos[i].deltax = htonl((long)rint((player[i]->vel.x * SHOWINFO_SCALE2))) ;
		dinfo2.body.show.pos[i].deltay = htonl((long)rint((player[i]->vel.y * SHOWINFO_SCALE2))) ;
		dinfo2.body.show.pos[i].body_angle = htonl((long)rint((player[i]->angle * SHOWINFO_SCALE2))) ;
		dinfo2.body.show.pos[i].head_angle = htonl((long)rint((player[i]->angle_neck_committed * SHOWINFO_SCALE2))) ;
		dinfo2.body.show.pos[i].view_width = htonl((long)rint((player[i]->vis_angle * SHOWINFO_SCALE2)) );
		dinfo2.body.show.pos[i].view_quality = htons((short)rint((player[i]->highquality))) ;

		dinfo2.body.show.pos[i].stamina = htonl((long)rint((player[i]->stamina * SHOWINFO_SCALE2))) ;
		dinfo2.body.show.pos[i].effort = htonl((long)rint((player[i]->effort * SHOWINFO_SCALE2))) ;
		dinfo2.body.show.pos[i].recovery = htonl((long)rint((player[i]->recovery * SHOWINFO_SCALE2))) ;

		dinfo2.body.show.pos[i].kick_count = htons(player[i]->count_kick) ;
		dinfo2.body.show.pos[i].dash_count = htons(player[i]->count_dash) ;
		dinfo2.body.show.pos[i].turn_count = htons(player[i]->count_turn) ;
		dinfo2.body.show.pos[i].say_count = htons(player[i]->count_say) ;
		dinfo2.body.show.pos[i].tneck_count = htons(player[i]->count_turn_neck) ;
		dinfo2.body.show.pos[i].catch_count = htons(player[i]->count_catch) ;
		dinfo2.body.show.pos[i].move_count = htons(player[i]->count_move) ;
		dinfo2.body.show.pos[i].chg_view_count = htons(player[i]->count_change_view) ;

    if( player[i]->getTackleCycles() > 0 )
      player[i]->alive &= (STAND | GOALIE | DISCARD | TACKLE | TACKLE_FAULT ) ;
    else
      player[i]->alive &= (STAND | GOALIE | DISCARD) ;
	}
	if (team_l->name != NULLCHAR) {
		strncpy(dinfo.body.show.team[0].name, team_l->name, 16) ;
		dinfo.body.show.team[0].score = htons(team_l->point) ;

		strncpy(dinfo2.body.show.team[0].name, team_l->name, 16) ;
		dinfo2.body.show.team[0].score = htons(team_l->point) ;
	}
	else
	    {
		strncpy(dinfo2.body.show.team[0].name, "", 16) ;
		dinfo2.body.show.team[0].score = htons(0) ;
	    }
	if (team_r->name != NULLCHAR)
    {
      strncpy(dinfo.body.show.team[1].name, team_r->name, 16) ;
      dinfo.body.show.team[1].score = htons(team_r->point) ;

      strncpy(dinfo2.body.show.team[1].name, team_r->name, 16) ;
      dinfo2.body.show.team[1].score = htons(team_r->point) ;
    }
	else
    {
      strncpy(dinfo2.body.show.team[1].name, "", 16) ;
      dinfo2.body.show.team[1].score = htons(0) ;
    }
  for ( MonitorCont::iterator i = M_monitors.begin ();
        i != M_monitors.end (); ++i )
    {
      if ( (*i)->getVersion () == 1.0 )
        (*i)->RemoteClient::send ( (char *)&dinfo, sizeof ( dispinfo_t ) );
      else
        (*i)->RemoteClient::send ( (char *)&dinfo2, sizeof ( dispinfo_t2 ) );
    }

	/* TH - 2-NOV-2000 */
	static bool wrote_final_cycle = false;

	if ( game_log_open () )
	  {
	    if (mode != PM_BeforeKickOff && mode != PM_TimeOver)
        {
          if (ServerParam::instance().gameLogVersion () == REC_OLD_VERSION
              || ServerParam::instance().gameLogVersion () == REC_VERSION_2)
            WriteLog(&dinfo) ;
          else
            WriteLog(&dinfo2) ;
        }
	    else if (mode == PM_TimeOver && !wrote_final_cycle)
        {
          if (ServerParam::instance().gameLogVersion () == REC_OLD_VERSION
              || ServerParam::instance().gameLogVersion () == REC_VERSION_2 )
            WriteLog(&dinfo) ;
          else
            WriteLog(&dinfo2) ;
          wrote_final_cycle = true;
        }
	  }
}



/*
 *===================================================================
 *Part: Field
 *===================================================================
 */
void Field::assign(Stadium *)
{
	goal_l.name = GOAL_L_NAME ;
	goal_r.name = GOAL_R_NAME ;
	line_l.name = LINE_L_NAME ;
	line_r.name = LINE_R_NAME ;
	line_t.name = LINE_T_NAME ;
	line_b.name = LINE_B_NAME ;

	goal_l.short_name = GOAL_L_NAME_SHORT ;
	goal_r.short_name = GOAL_R_NAME_SHORT ;
	line_l.short_name = LINE_L_NAME_SHORT ;
	line_r.short_name = LINE_R_NAME_SHORT ;
	line_t.short_name = LINE_T_NAME_SHORT ;
	line_b.short_name = LINE_B_NAME_SHORT ;

	line_l.setSubName ( "l" ) ;
	line_r.setSubName ( "r" ) ;
	line_t.setSubName ( "t" ) ;
	line_b.setSubName ( "b" ) ;

	goal_l.Set(PVector(-PITCH_LENGTH/2.0,0.0),ServerParam::instance().gwidth) ;
	goal_r.Set(PVector(PITCH_LENGTH/2.0,0.0),ServerParam::instance().gwidth) ;
	line_l.Set(PVector(-PITCH_LENGTH/2.0,0.0),1.0) ;
	line_r.Set(PVector(PITCH_LENGTH/2.0,0.0),1.0) ;
	line_t.Set(PVector(-PITCH_WIDTH/2.0,0.0),1.0) ;
	line_b.Set(PVector(PITCH_WIDTH/2.0,0.0),1.0) ;
}

/*
 *===================================================================
 *Part: Referee
 *===================================================================
 */
void Stadium::referee_step()
{
    /* if a value of half_time is negative, then ignore time. */
    if(ServerParam::instance().halfTime() > 0) {
      
      /* check for penalty shoot-outs, half_time and extra_time. */
      if(  time >= ServerParam::instance().halfTime() *
             ( ServerParam::instance().nr_normal_halfs +
               ServerParam::instance().nr_extra_halfs     ) )
      {
        if( ServerParam::instance().penalty_shoot_outs == true &&
            team_l->point == team_r->point )
          return   ; // handled by PenaltyRef
        else
        {
          say("time_up") ;
          change_play_mode(PM_TimeOver);
          return ;
        }
      }
      else if( time >= ServerParam::instance().halfTime() *
                  ServerParam::instance().nr_normal_halfs )
      {
         if (!team_l || !team_r)
         {
            say("time_up_without_a_team");
            change_play_mode(PM_TimeOver);
         }
         else if (team_l->point != team_r->point )
         {
            say("time_up") ;
            change_play_mode(PM_TimeOver);
            return ;
         }
         else if (time >= ServerParam::instance().halfTime() * ( startp + 1 ) )
         {
             startp++;
             M_caught_ball = NULL;
             say("time_extended") ;
             if ( startp % 2 == 0 )
               set_ball(PVector(0.0,0.0),LEFT) ;
             else
               set_ball(PVector(0.0,0.0),RIGHT) ;
             set_players() ;
             change_play_mode(PM_BeforeKickOff) ;
             time = ServerParam::instance().halfTime() * startp ;
             weather.wind_vector.x *= -1 ;
             weather.wind_vector.y *= -1 ;
             //startp = FALSE ;
             return ;
         }
      }
      // if not in overtime, check whether halfTime() cycles have been passed
      else if( time >= ServerParam::instance().halfTime() * ( startp + 1 ) )
      {
          M_caught_ball = NULL;
          say("half_time") ;
          set_ball(PVector(0.0,0.0),RIGHT) ;
          set_players() ;
          change_play_mode(PM_BeforeKickOff) ;
          startp++;
          time = ServerParam::instance().halfTime() * startp;
          weather.wind_vector.x *= -1 ;
          weather.wind_vector.y *= -1 ;
          return ;
      }
    }

	if(!ServerParam::instance().CoachMode) {
		check_mode() ;
//  		check_goal() ;
		check_ball_in_pitch() ;
		check_player_in_field() ;
		return ;
	}
	if(!coach->assignedp) {
		check_mode() ;
//  		check_goal() ;
		check_ball_in_pitch() ;
	} else
		if(check_ball_pos() != BPI_InField)
			ball->vel = PVector(0.0,0.0) ;

	check_player_in_field() ;
}

void Stadium::check_mode()
{
	if (mode == PM_GoalKick_Right || mode == PM_GoalKick_Left) {
	        check_field_before_goalkick() ;
		check_player_in_field() ;
		}
	else if (mode != PM_PlayOn)
		if(ball->vel.x != 0.0 || ball->vel.y != 0.0){
			check_player_in_field() ;
			change_play_mode(PM_PlayOn) ;
		}
}

void Stadium::set_ball(PVector p,Side s, PVector vel)
{
    ball->acc = PVector(0.0,0.0) ;
    ball->vel = vel ;
    ball->pos = p ;
    kick_off_side = s ;
}

void Stadium::set_ball(PVector p,Side s,Angle ang, PVector vel)
{
    ball->angle = ang ;
    set_ball(p, s, vel) ;
}

void Stadium::check_players_move()
{
	static RArea fld_l(PVector(-PITCH_LENGTH/4,0.0),
					PVector(PITCH_LENGTH/2, PITCH_WIDTH)) ;
	static RArea fld_r(PVector(PITCH_LENGTH/4,0.0),
					PVector(PITCH_LENGTH/2, PITCH_WIDTH)) ;
	static CArea c(PVector(0.0,0.0),KICK_OFF_CLEAR_DISTANCE) ;

	int i ;

	for (i = 0 ; i < MAX_PLAYER * 2 ; i++) {
		if (player[i]->alive == DISABLE)
			continue ;
		switch (player[i]->team->side) {
		case LEFT:
			if(player[i]->pos.x > 0)
				player[i]->pos = fld_l.randomize() ;
			break ;
		case RIGHT:
			if(player[i]->pos.x < 0)
				player[i]->pos = fld_r.randomize() ;
			break ;
		}
		if(player[i]->team->side != kick_off_side)
			if(c.inArea(player[i]->pos))
				player[i]->pos = c.nearestEdge(player[i]->pos) ;
	}
}

void Stadium::check_player_after_offside()
{

    CArea c(offside_pos, ServerParam::instance().offside_area) ;

	int offsideside ;
	PVector ce, si ;

    if (mode == PM_OffSide_Right) {
        ce += PVector(PITCH_LENGTH/4 + offside_pos.x/2,0.0) ;
		si += PVector(PITCH_LENGTH/2 - offside_pos.x, PITCH_WIDTH) ;
		offsideside = RIGHT ;
	}
	else {
        ce += PVector(-PITCH_LENGTH/4 + offside_pos.x/2,0.0) ;
		si += PVector(PITCH_LENGTH/2 + offside_pos.x, PITCH_WIDTH) ;
		offsideside = LEFT ;
    }
    RArea fld(ce, si) ;

	int i ;

	for (i = 0 ; i < MAX_PLAYER * 2 ; i++) {
		if (player[i]->alive == DISABLE)
			continue ;
		if (player[i]->team->side == offsideside) {
			if (c.inArea(player[i]->pos))
				player[i]->pos = c.nearestEdge(player[i]->pos) ;
			if (!fld.inArea(player[i]->pos))
				if(mode == PM_OffSide_Right)
					player[i]->pos = fld.nearestVEdge(player[i]->pos)
						+ PVector(ServerParam::instance().offside_kick_margin,0) ;
				else
					player[i]->pos = fld.nearestVEdge(player[i]->pos)
						- PVector(ServerParam::instance().offside_kick_margin,0) ;
		}
	}
}

void Stadium::check_goalie_while_catch(Player *)
{
    // not longer used.  Instead the ref awards an infringement if the goalie moves the ball outside of the penalty area

//  	RArea pta(PVector((-PITCH_LENGTH/2+PENALTY_AREA_LENGTH/2.0) * goalie->team->side, 0.0),