clear.cpp

RoboCup 2D 仿真组老牌强队Mersad 2005的完整源代码

	}
	else
	{ // Defense kick
#ifdef CLEAR_LOG1
	LOG << "Clear::defense" << endl;
#endif
		if ((worldModel->getBall().getPos().getX() >= -28 ||
			fabs(worldModel->getBall().getPos().getY()) >= 21) &&
			!worldModel->getBody().isGoalie())
			return AD_MIN_VALUE;

		Point clearPoints[20];
		int clearPointsNum = 0;
		float clearWeights[20];
		bool clearToTeammate[20];
		Ball clearBall;
		Command *curClearCommand;

		float maxWeight;
		int maxPointNum;
		InterceptCalculate clearIntercept;
		float interceptX;

		Point oppPoint;
		
		clearPoints[0] = Point(0, 20);
		clearPoints[1] = Point(0, 10);
		clearPoints[2] = Point(0, 0);
		clearPoints[3] = Point(0, -10);
		clearPoints[4] = Point(0, -20);
		clearPoints[5] = Point(-14, 30);
		clearPoints[6] = Point(-14, -30);
		clearPoints[7] = Point(0, worldModel->getBody().getPos().getY());
		if (worldModel->getBody().getPos().getY() > 0)
			clearPoints[8] = Point(worldModel->getBody().getPos().getX(), 30);
		else
			clearPoints[8] = Point(worldModel->getBody().getPos().getX(), -30);
		clearPointsNum = 9;

		clearIntercept.startSession(1);
		clearIntercept.updateByWorldModel(worldModel);
		
		clearIntercept.setTmmSlowDashPower(20);
		clearIntercept.setTmmFastDashPower(80);
		clearIntercept.setTmmDirectDashPower(100);
		clearIntercept.setTmmSeeBallDelay(2);
		clearIntercept.setTmmPosDevRate(0.8);

		clearIntercept.setOppSlowDashPower(20);
		clearIntercept.setOppFastDashPower(90);
		clearIntercept.setOppDirectDashPower(100);
		clearIntercept.setOppSeeBallDelay(1);
		clearIntercept.setOppPosDevRate(0.8);
		
		for (i = 0; i < clearPointsNum; i++)
		{
			FastKickToPoint fastKick(AT_CLEAR, clearPoints[i], worldModel->getBall(),
					worldModel->getBody());
			if (!fastKick.isPossible())
			{
#ifdef CLEAR_LOG1
	LOG << "Clear:point [" << i << "] = " << clearPoints[i] << " not possible" << endl;
#endif
				clearWeights[i] = AD_MIN_VALUE;
				if (fastKick.getCommand())
					delete fastKick.getCommand();
				continue;
			}
			curClearCommand = fastKick.getCommand();
			clearBall = worldModel->getBall();
			clearBall.simulateByAction(worldModel->getBody(), curClearCommand);
			
			
			clearIntercept.setVirtualBall(clearBall);
			clearIntercept.setKickCycles(1);
			clearIntercept.run();

#ifdef CLEAR_LOG1
	LOG << "Clear:point [" << i << "] = " << clearPoints[i] << endl;
#endif

			if (clearIntercept.existFastestPlayer())
			{
				if (clearIntercept.getFastestPlayer().getTeamId() == TID_TEAMMATE)
				{
#ifdef CLEAR_LOG1
	LOG << "Clear:fastest exist teammate" << endl;
#endif
					interceptX = clearIntercept.getFastestInterPlayer().getInterPoint().x;
#ifdef CLEAR_LOG1
	LOG << "Clear:interceptX = " << interceptX << endl;
#endif
					if (interceptX < -36)
						clearWeights[i] = -10;
					else if (interceptX < -25)
						clearWeights[i] = Basics::reRate(interceptX, -36, -25, -10, 45);
					else
						clearWeights[i] = Basics::reRate(interceptX, -25, 10, 45, 70);
					clearWeights[i] += 25;
					clearToTeammate[i] = true;
				}
				else
				{
#ifdef CLEAR_LOG1
	LOG << "Clear:fastest exist opponent" << endl;
#endif
					interceptX = clearIntercept.getFastestInterPlayer().getInterPoint().x;
#ifdef CLEAR_LOG1
	LOG << "Clear:interceptX = " << interceptX << endl;
#endif
					if (interceptX < -36)
						clearWeights[i] = -50;
					else if (interceptX < -25)
						clearWeights[i] = Basics::reRate(interceptX, -36, -25, -50, 5);
					else
						clearWeights[i] = Basics::reRate(interceptX, -25, 10, 5, 25);
					clearToTeammate[i] = false;
				}
			}
			else
			{
				clearWeights[i] = 20;
			}
#ifdef CLEAR_LOG1
	LOG << "Clear:clearWeight = " << clearWeights[i] << endl;
#endif
		}

		maxPointNum = 0;
		maxWeight = -0xFFFF * 10;

		for (i = 0; i < clearPointsNum; i++)
			if (clearWeights[i] > maxWeight)
			{
				maxWeight = clearWeights[i];
				maxPointNum = i;
			}

		if (maxWeight <= AD_MIN_VALUE)
		{
#ifdef CLEAR_LOG1
	LOG << "Clear: all not possible" << endl;
#endif
			if (worldModel->getBody().getPos().getY() >= 0)
				clearCommand = new KickCommand(AT_CLEAR, 100, 50);
			else
				clearCommand = new KickCommand(AT_CLEAR, 100, -50);
			return -60;
		}
#ifdef CLEAR_LOG1
	LOG << "Clear::selected =" << maxPointNum << " " << clearPoints[maxPointNum] << endl;
	LOG << "Clear::weight =" << maxWeight << endl;
#endif

		clearCommand = FastKickToPoint(AT_CLEAR, clearPoints[maxPointNum],
			worldModel->getBall(), worldModel->getBody()).getCommand();

		if (clearToTeammate[maxPointNum])
			maxWeight -= 15;

#ifdef CLEAR_LOG1
	LOG << "Clear::weight(after add1) =" << maxWeight << endl;
#endif
			
		maxWeight += Basics::reRate(worldModel->getBall().getPos().getX(),
				-53, -34, 2, 20, RRM_REVERSE);
		
#ifdef CLEAR_LOG1
	LOG << "Clear::weight(after add2) =" << maxWeight << endl;
#endif

		for (i = 0; i < FULL_PLAYERS_NUM; i++)
			if (worldModel->getFullPlayer(TID_OPPONENT, i).isValid())
			{
				oppPoint = worldModel->getFullPlayer(TID_OPPONENT, i).getPos();
				if (oppPoint.x > worldModel->getBody().getPos().getX() - 2.5 &&
					oppPoint.x < worldModel->getBody().getPos().getX() + 5 &&
					oppPoint.y > worldModel->getBody().getPos().getY() - 7 &&
					oppPoint.y < worldModel->getBody().getPos().getY() + 7)
				{
					maxWeight += Basics::reRate(worldModel->getBody().getDistance(oppPoint),
							0, 9, 1, 4, RRM_REVERSE);
#ifdef CLEAR_LOG1
	LOG << "Clear::addOpp " << i + 1 << endl;
#endif
				}
			}

#ifdef CLEAR_LOG1
	LOG << "Clear::weight(after add3) =" << maxWeight << endl;
#endif

		if (worldModel->getBody().isGoalie())
			return AD_ALWAYS_RUN_VALUE;

		if (maxWeight > 75)
			return AD_ALWAYS_RUN_VALUE;
		else
			return maxWeight;

		// Previous Methdod
		if ((worldModel->getBall().getPos().getX() >= -36 ||
			fabs(worldModel->getBall().getPos().getY()) >= 20))
			return AD_MIN_VALUE;
			
		if(worldModel->getBall().getVel().getMagnitude() > 2)
		{
			if(worldModel->getBall().getAbsVec().getMagnitude() > .8)
			{
				if(worldModel->getBody().getPos().getY() < 0)
				{
					kickPoint.x = 0.00; ////////////////TOF Chasbide
					kickPoint.y = 9.00;
					clearCommand = FastKickToPoint(AT_CLEAR, kickPoint, worldModel->getBall(),
						worldModel->getBody()).getCommand();
					
					if ((worldModel->getBall().getPos().getX() >= -46 ||
						fabs(worldModel->getBall().getPos().getY()) >= 15))
						return defaultClearWeight;
					else
						return AD_ALWAYS_RUN_VALUE;
				}
				else
				{
					kickPoint.x = 0.00; ////////////////TOF Chasbide
					kickPoint.y = -9.00;
					clearCommand = FastKickToPoint(AT_CLEAR, kickPoint, worldModel->getBall(),
						worldModel->getBody()).getCommand();
					if ((worldModel->getBall().getPos().getX() >= -46 ||
						fabs(worldModel->getBall().getPos().getY()) >= 15))
						return defaultClearWeight;
					else
						return AD_ALWAYS_RUN_VALUE;
				}	
			}
			else
			{
				kickPoint.x = worldModel->getBody().getPos().getX() + 42; ////////////////TOF Chasbide
				kickPoint.y = worldModel->getBody().getPos().getY();
				clearCommand = FastKickToPoint(AT_CLEAR, kickPoint, worldModel->getBall(),
					worldModel->getBody()).getCommand();
				if ((worldModel->getBall().getPos().getX() >= -46 ||
					fabs(worldModel->getBall().getPos().getY()) >= 15))
					return defaultClearWeight;
				else
					return AD_ALWAYS_RUN_VALUE;
			}
		}
		else if(worldModel->getBall().getVel().getMagnitude() > .9)
		{
			Vector ballVector;
			ballVector.setByPoints(worldModel->getBody().getPos(), 
				worldModel->getBall().getPos());
				
			ballVector.setAsPolar(.45, ballVector.getDirection());
			
			kickPoint.x = worldModel->getBody().getPos().getX() + ballVector.getX();
			kickPoint.y = worldModel->getBody().getPos().getY() + ballVector.getY();
			
			clearCommand = KickToPointArriveVelocity(AT_CLEAR, kickPoint, 0, 
				worldModel->getBall(), worldModel->getBody()).getCommand();

			if ((worldModel->getBall().getPos().getX() >= -46 ||
				fabs(worldModel->getBall().getPos().getY()) >= 15))
				return defaultClearWeight;
			else
				return AD_ALWAYS_RUN_VALUE;
		}	
		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 = worldModel->getBody().getPos().getX() + 42; ////////////////TOF Chasbide
			kickPoint.y = worldModel->getBody().getPos().getY();
			clearCommand = KickToPointArriveVelocity(AT_CLEAR, kickPoint, 0, 
				worldModel->getBall(), worldModel->getBody()).getCommand();
			if ((worldModel->getBall().getPos().getX() >= -46 ||
				fabs(worldModel->getBall().getPos().getY()) >= 15))
				return defaultClearWeight;
			else
				return AD_ALWAYS_RUN_VALUE;
		}
	}
	return AD_MIN_VALUE;
}