basicdash.cpp

RoboCup 2D 仿真组老牌强队Mersad 2005的完整源代码

		}
		else
		{
			command = TurnToPoint(creator, target, body).getCommand();
			mode = CT_TURN;
		}
	}
	else
	{
		command = TurnToPoint(creator, target, body).getCommand();
		mode = CT_TURN;
	}
}


DashNormalGotoPoint::DashNormalGotoPoint(ActionType creator, const Point &target, float distance, 
		const Body &body, float idealBodyDir, float maxDashPower): BasicAction(creator)
{
	float deltaAngle, validDeltaAngle;
	Vector targetVector;
	targetVector.setByPoints(body.getPos(), target);
	deltaAngle = getDeltaAngle(targetVector.getDirection(), body.getBodyDir());
	distance = max((float) EPS, distance);
	validDeltaAngle = arcTan2(distance, targetVector.getMagnitude());

	mode = CT_EMPTY;
	command = NULL;
		
	float dashPower = 100;
	if(body.getStamina() < 2500)
		dashPower = 80;
	if(body.getStamina() < 2000)
		dashPower = 60;
	if(body.getStamina() < 1500)
		dashPower = body.getStaminaIncMax();	
	if(dashPower > maxDashPower)
		dashPower = maxDashPower;

	if (fabs(deltaAngle) <= 6/*GOTOPOINTMINDELTAANGLE*/ || fabs(deltaAngle) <= validDeltaAngle)
	{
		if (targetVector.getMagnitude() > distance)
		{
			command = new DashCommand(creator, dashPower);
			mode = CT_DASH;
		}
		else
		{
			command = TurnToAngle(creator, idealBodyDir, body).getCommand();
			mode = CT_TURN;
		}
	}
	else
	{
		command = TurnToPoint(creator, target, body).getCommand();
		mode = CT_TURN;
	}
	
	if (maxDashPower == 0)
	{
		if (command == NULL)
			command = TurnToAngle(creator, idealBodyDir, body).getCommand();
		else
		{
			delete command;
			command = TurnToAngle(creator, idealBodyDir, body).getCommand();
		}	
	}
}


Command *DashNormalGotoPoint::getCommand()
{
	return command;
}

CommandType DashNormalGotoPoint::getMode()
{
	return mode;
}


/*
DashFarNormalGotoPoint::DashFarNormalGotoPoint(const Point &target, 
	float distance, Body *body, GotoPointMode mode): BasicAction(), 
	target(target), distance(distance), body(body), mode(mode)
{
}

Command *DashFarNormalGotoPoint::getCommand()
{
	return NULL;
}
*/


/*
DashClear::DashClear(Ball *ball, Body *body, bool isOpp): BasicAction(), 
	ball(ball), body(body), isOpp(isOpp)
{
	Point kickPoint;
	float delta;
	Vector goalVector;
	
	LogMaker.Log("Clear.");

	if (isOpp)
	{
		delta = 2.5;
		if (body.getPosition()->getX() > 0)
			delta = 2.25;
		else if (body.getPosition()->getX() > 27)
			delta = 2;
//	kickPoint.X = body.getPosition()->getX() + Delta; ////////////////TOF Chasbide
//	kickPoint.Y = body.getPosition()->getY();
		basicActions.Kick.KickToPointVelocity((Point){49,0},delta,body,ball,RSC);
	}
	else
	{
		if(ball.getVelocity()->getMagnidute() > 2)
		{
			if(ball.getAbsVec()->getMagnidute() > .8)
			{
				if(body.getPosition()->getY() < 0)
				{
					kickPoint.X = 0.00; ////////////////TOF Chasbide
					kickPoint.Y = 9.00;
					BasicActions.Kick.kickToPointMaxVelocity(kickPoint,body,ball,RSC);
				}
				else
				{
					kickPoint.X = 0.00; ////////////////TOF Chasbide
					kickPoint.Y = -9.00;
					BasicActions.Kick.kickToPointMaxVelocity(kickPoint,body,ball,RSC);
				}	
			}
			else
			{
				kickPoint.X = body.getPosition()->getX() + 42; ////////////////TOF Chasbide
				kickPoint.Y = body.getPosition()->getY();
				BasicActions.Kick.kickToPointMaxVelocity(kickPoint,body,ball,RSC);
			}
		}
		else if(ball.getVelocity()->getMagnidute() > .9)
		{
			Vector ballVector;
			ballVector.setByPoints(body.getPosition()->getX(), body.getPosition()->getY(), ball.getPosition()->getX(), ball.getPosition()->getY());
			ballVector.setAsPolar(.45, ballVector.Angle);
			kickPoint.X = body.getPosition()->getX() + ballVector.X;
			kickPoint.Y = body.getPosition()->getY() + ballVector.Y;
			BasicActions.Kick.KickToPointArriveVelocity(kickPoint, 0, body, ball, RSC);
		}	
		else
		{
			///in ke joloye darvaze dar mavaghei, bayad be darvazeban pass bede va hamin joori be jolo shoot nakone ra bayad ba'dan bezaram
			kickPoint.X = body.getPosition()->getX() + 42; ////////////////TOF Chasbide
			kickPoint.Y = body.getPosition()->getY();
			BasicActions.Kick.KickToPointArriveVelocity(kickPoint, 0, body, ball, RSC);
		}
	}
}

Command *DashClear::getCommand()
{
	return NULL;
}
*/

FreeKickGotoPoint::FreeKickGotoPoint(ActionType creator, const Point &point, float standDirection,
		float collisionDistance, const Body &body): BasicAction(creator)
{
	Vector pointVector;
	Vector standVector;
	Vector targetVector;
	Vector goVector;
	Point targetPoint;
	float distance;
	bool intersectFlag = false;

	command = NULL;
	
#ifdef FREEKICK_GOTO_POINT_LOG
LOG << "FKGotoPoint 1targetP : " << point << endl;
#endif
#ifdef FREEKICK_GOTO_POINT_LOG
LOG << "FKGotoPoint coldist : " << collisionDistance << endl;
#endif
	standVector.setAsPolar(body.getSize() + collisionDistance + 0.1, standDirection + 180);
#ifdef FREEKICK_GOTO_POINT_LOG
LOG << "FKGotoPoint 2standV : " << standVector << endl;
#endif
	targetPoint = (Vector&)point + standVector;
#ifdef FREEKICK_GOTO_POINT_LOG
LOG << "FKGotoPoint 2targetP : " << targetPoint << endl;
#endif
	pointVector.setByPoints(body.getPos(), point);
	targetVector.setByPoints(body.getPos(), targetPoint);
#ifdef FREEKICK_GOTO_POINT_LOG
LOG << "FKGotoPoint 1targetV : " << targetVector << endl;
#endif
	
	Line targetLine;
	targetLine.setByPoints(body.getPos(), targetPoint);
	distance = targetLine.getPointDist(point);
#ifdef FREEKICK_GOTO_POINT_LOG
LOG << "FKGotoPoint distance : " << distance << endl;
#endif
    if (distance < body.getSize() + collisionDistance + 0.01 &&
		targetVector.getMagnitude() > standVector.getMagnitude() &&
		pointVector.getMagnitude() < targetVector.getMagnitude())
	{ // intersect
#ifdef FREEKICK_GOTO_POINT_LOG
LOG << "FKGotoPoint intersect " << endl;
#endif
		float angleDiff;

		intersectFlag = true;
		angleDiff = normalizeAngle(
			absoluteAngle(standVector.getDirection()) -
			absoluteAngle(180 + pointVector.getDirection()));
		standVector.setAsPolar(body.getSize() + collisionDistance + 2.0, pointVector.getDirection() + (angleDiff / 2) + 180);
		targetPoint = (Vector&)point + standVector;
		targetVector.setByPoints(body.getPos(), targetPoint);
	}
	else
	{
	}
	goVector = targetVector;
	
#ifdef FREEKICK_GOTO_POINT_LOG
LOG << "FKGotoPoint 3targetP : " << targetPoint << endl;
#endif
	ExactGotoPoint doGotoPoint(creator, targetPoint, 0.2, body);
	command = doGotoPoint.getCommand();
	
#ifdef FREEKICK_GOTO_POINT_LOG
LOG << "FKGotoPoint mode : " << doGotoPoint.getMode() << endl;
#endif
	if (command)
	{
#ifdef FREEKICK_GOTO_POINT_LOG
LOG << "FKGotoPoint command : " << command->toString() << endl;
#endif
	}
	if (intersectFlag || doGotoPoint.getMode() != CT_EMPTY)
		status = 1;
	else
		status = 0;
}

Command *FreeKickGotoPoint::getCommand()
{
	return command;
}

int FreeKickGotoPoint::getStatus() const
{
	return status;
}
/*   2           1                
       |---------------------- Y2
3   X1 |
	   |---------------------- Y1
*/// 4           5                


ForbiddenAreaGotoPoint::ForbiddenAreaGotoPoint(ActionType creator, const Point &point, float rectX1,
		float rectY1, float rectY2, const Body &body): BasicAction(creator)
{
	int sourcePlace = 0;
	int goModel = 0;

#ifdef FORBIDDENAREA_GOTO_POINT_LOG
LOG << "ForbiddenAreaGotoPoint Rect" << endl;
#endif

	command = NULL;

#ifdef FORBIDDENAREA_GOTO_POINT_LOG
LOG << "FAGotoPoint Point 1st=" << point <<  endl;
#endif

	rectY1 = min(rectY1, rectY2);
	rectY2 = max(rectY1, rectY2);

#ifdef FORBIDDENAREA_GOTO_POINT_LOG
LOG << "ForbiddenAreaGotoPoint X1 = " << rectX1 << endl;
LOG << "ForbiddenAreaGotoPoint Y1 = " << rectY1 << endl;	
LOG << "ForbiddenAreaGotoPoint Y2 = " << rectY2 << endl;	
#endif

	forbiddenSourceFlag = false;
	forbiddenTargetFlag = false;
	realTargetPlace = 1;
	realTargetPoint = point;
	goAroundFlag = false;
	
	if (point.x > rectX1 &&	point.y > rectY1 && point.y < rectY2)
	{
#ifdef FORBIDDENAREA_GOTO_POINT_LOG
LOG << "FAGotoPoint forbiddenTargetFlag = true" << endl;
#endif
		float minDistance;
		forbiddenTargetFlag = true;

		realTargetPoint.x = rectX1;
		minDistance = point.x - rectX1;

		if (point.y - rectY1 < minDistance)
		{
#ifdef FORBIDDENAREA_GOTO_POINT_LOG
LOG << "FAGotoPoint near1" << endl;
#endif
			realTargetPoint.x = point.x;
			realTargetPoint.y = rectY1;
			minDistance = point.y - rectY1;
		}

		if (rectY2 - point.y < minDistance)
		{
#ifdef FORBIDDENAREA_GOTO_POINT_LOG
LOG << "FAGotoPoint near2" << endl;
#endif
			realTargetPoint.x = point.x;
			realTargetPoint.y = rectY2;
			minDistance = rectY2 - point.y;
		}
	}

#ifdef FORBIDDENAREA_GOTO_POINT_LOG
LOG << "FAGotoPoint Point 2nd=" << realTargetPoint <<  endl;
#endif

	if (body.getPos().getX() > rectX1 + 0.8 &&
		body.getPos().getY() > rectY1 + 0.8 &&
	   	body.getPos().getY() < rectY2 - 0.8)
	{
#ifdef FORBIDDENAREA_GOTO_POINT_LOG
LOG << "FAGotoPoint forbiddenSourceFlag = true" << endl;
#endif
		forbiddenSourceFlag = true;
		float minDistance;

		realTargetPoint.x = rectX1;
		minDistance = body.getPos().getX() - rectX1;

		if (body.getPos().getY() - rectY1 < minDistance)
		{
#ifdef FORBIDDENAREA_GOTO_POINT_LOG
LOG << "FAGotoPoint fsource near1" << endl;
#endif
			realTargetPoint.x = body.getPos().getX();
			realTargetPoint.y = rectY1;
			minDistance = body.getPos().getY() - rectY1;
		}

		if (rectY2 - body.getPos().getY() < minDistance)
		{
#ifdef FORBIDDENAREA_GOTO_POINT_LOG
LOG << "FAGotoPoint fsource near2" << endl;
#endif
			realTargetPoint.x = body.getPos().getX();
			realTargetPoint.y = rectY2;
			minDistance = rectY2 - body.getPos().getY();
		}
		DashNormalGotoPoint doGotoPoint(creator, realTargetPoint, 1.2, body, 90);
		command = doGotoPoint.getCommand();
		if (doGotoPoint.getMode() == CT_EMPTY)
			status = 0;
		else
			status = 1;	
		return;
		/*
		command = new EmptyCommand();
		status = 0;
		return;
		*/
	}
	
	if (realTargetPoint.x > rectX1 && realTargetPoint.y >= rectY2)
		realTargetPlace = 1;
	if (realTargetPoint.x <= rectX1 && realTargetPoint.y >= rectY2)
		realTargetPlace = 2;
	if (realTargetPoint.x <= rectX1 && realTargetPoint.y < rectY2 &&
		realTargetPoint.y > rectY1)
		realTargetPlace = 3;
	if (realTargetPoint.x <= rectX1 && realTargetPoint.y <= rectY1)
		realTargetPlace = 4;
	if (realTargetPoint.x > rectX1 && realTargetPoint.y <= rectY1)
		realTargetPlace = 5;

	if (body.getPos().getX() > rectX1 && body.getPos().getY() >= rectY2)
		sourcePlace = 1;
	if (body.getPos().getX() <= rectX1 && body.getPos().getY() >= rectY2)
		sourcePlace = 2;
	if (body.getPos().getX() <= rectX1 && body.getPos().getY() < rectY2 &&