srpdribble.cpp

RoboCup 2D 仿真组老牌强队Mersad 2005的完整源代码

/*
 *  Copyright 2002-2005, Mersad Team, Allameh 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.
 *
 *  This file is created by: Meisam Vosoughpour
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#include <cmath>

#include <Degree.h>
#include <Logger.h>
#include <Defines.h>
#include <SRPDribble.h>
#include <InterceptCalculate.h>


//#define SRPDRIBBLE_LOGLEVEL1


using namespace std;

SRPDribble::SRPDribble(const WorldModel *worldModel): AdvancedAction(worldModel)
{
}

SRPDribble::~SRPDribble()
{
}

void SRPDribble::execute(Form &form, const Library &library)
{
	LOG << "SRPDribble::execute" << endl;

	command = srpCommand;
	command->setCreator(AT_SRPDRIBBLE);
}

void SRPDribble::getDangerActionValue()
{
//KOMAKE KHODAM : INHA CHIST?!?    CKickGoToBallPlayer *GetBodyGoToBall, *GetBestOppGoToBall;
    int bodyListNumber, bestOppListNumber;
    
    for (unsigned i = 0; i < worldModel->getCurKickCalculate().getSimulatesNum(); i++)
	{
	    if (!worldModel->getCurKickCalculate().getSimulate(i).isValid())
	    {
			deltaToFirstTime[i] = -999;
			continue;
	    }

	    if (!worldModel->getCurKickCalculate().getSimulate(i).existFastestPlayer())
	    {
			deltaToFirstTime[i] = -999;
	    	continue;
	    }	

	    bodyListNumber = worldModel->getCurKickCalculate().getSimulate(i).getCheckedListNum(worldModel->getBody());

	    if (bodyListNumber == NOVALUE)
	    {
			deltaToFirstTime[i] = -999;
			sarePaTime[i] = -999;
			continue;
	    }	
	    
	    if (!worldModel->getCurKickCalculate().getSimulate(i).getOppCheckedPlayersNum())
	    {
			deltaToFirstTime[i] = DEFAULT_SHARE_CYCLES;
			sarePaTime[i] = worldModel->getCurKickCalculate().getSimulate(i).
						getCheckedInterPlayer(bodyListNumber).getInterTime();
			oppGtbTime[i] = 999;
	    	continue;
	    }	
	    			
	    bestOppListNumber = MAX_CHECK_PLAYERS + 1;
	    
	    for (unsigned o = 0; o < worldModel->getCurKickCalculate().getSimulate(i).getCheckedPlayersNum(); o++)
	    {
			if(worldModel->getCurKickCalculate().getSimulate(i).getCheckedInterPlayer(o).getPlayer().getTeamId() == TID_TEAMMATE) 
		 	   continue;
			if (bestOppListNumber == MAX_CHECK_PLAYERS + 1 ||
		    	worldModel->getCurKickCalculate().getSimulate(i).getCheckedInterPlayer(o).getInterTime() < 
		    	worldModel->getCurKickCalculate().getSimulate(i).getCheckedInterPlayer(bestOppListNumber).getInterTime())
		    	bestOppListNumber = o;	         
	    
	    }
	    
		if (bestOppListNumber == MAX_CHECK_PLAYERS + 1)
		{
			deltaToFirstTime[i] = DEFAULT_SHARE_CYCLES;
		}
		else	
		{
			deltaToFirstTime[i] = (int)(worldModel->getCurKickCalculate().getSimulate(i).getCheckedInterPlayer(bestOppListNumber).getInterTime() -
	                    	     worldModel->getCurKickCalculate().getSimulate(i).getCheckedInterPlayer(bodyListNumber).getInterTime());
		}
		
		if (deltaToFirstTime[i] < 0)
			deltaToFirstTime[i] *= 15;
		else if (deltaToFirstTime == 0)
			deltaToFirstTime[i] -= 4;
		
		sarePaTime[i] = worldModel->getCurKickCalculate().getSimulate(i).
			getCheckedInterPlayer(bodyListNumber).getInterTime();

		oppGtbTime[i] = worldModel->getCurKickCalculate().getSimulate(i).
				getCheckedInterPlayer(bestOppListNumber).getInterTime();
	}
	
}




void SRPDribble::getDangerFieldValue()
{
    int bodyListNumber;
    Point goToBallPoint;
    float dangerX = 50, dangerY = 31.5;
    
    for (unsigned i = 0; i < worldModel->getCurKickCalculate().getSimulatesNum(); i++)
	{
	    bodyListNumber = worldModel->getCurKickCalculate().getSimulate(i).getCheckedListNum(worldModel->getBody());
	    
		if (bodyListNumber == NOVALUE)
		{
			dangerFieldValue[i] = -1000;
			continue;
		}
				
		goToBallPoint = worldModel->getCurKickCalculate().getSimulate(i).getCheckedInterPlayer(bodyListNumber).getInterPoint();

	    dangerFieldValue[i] = 0;
	    	    
	    if(goToBallPoint.x > dangerX)
			dangerFieldValue[i] -= (goToBallPoint.x - dangerX) / 1;

	    if(fabs(goToBallPoint.y) > dangerY)
			dangerFieldValue[i] -= (fabs(goToBallPoint.y) - dangerY) / 1;
	}
}


void SRPDribble::getSpeedValue()
{
    int bodyListNumber;
    Point goToBallPoint;
    float normalDistance = 8;
    float sarePaPointDistance;
    float normalWeight = 4;                   
    
	for (unsigned i = 0; i < worldModel->getCurKickCalculate().getSimulatesNum(); i++)
	{
	    bodyListNumber = worldModel->getCurKickCalculate().getSimulate(i).getCheckedListNum(worldModel->getBody());

		if (bodyListNumber == NOVALUE)
		{
			speedValue[i] = -1000;
			continue;
		}

	    goToBallPoint = worldModel->getCurKickCalculate().getSimulate(i).getCheckedInterPlayer(bodyListNumber).getInterPoint();
	    sarePaPointDistance = hypot(goToBallPoint.x - worldModel->getBall().getPos().getX(), goToBallPoint.y - worldModel->getBall().getPos().getY());
	    
	    if(sarePaPointDistance <= normalDistance)
			speedValue[i] = normalWeight + (sarePaPointDistance - normalDistance);

	    if(sarePaPointDistance > normalDistance)
			speedValue[i] = normalWeight - (sarePaPointDistance - normalDistance) * 6;

	    if (i == 40)
	    {
		LOG << "salam salam sad ta salam : distToSrpPoint : " << sarePaPointDistance << endl;
		LOG << "speedValue[40] : " << speedValue[i] << endl;
	    }
//pak nashavad	    if(speedValue[i] < 0)
//			speedValue[i] = 0;
	    
		Vector gtbVector;
	    float enemySpeedAngle;
	    
		gtbVector.setByPoints(worldModel->getBody().getPos(), goToBallPoint);
	    enemySpeedAngle = gtbVector.getDirection() - worldModel->getBody().getBodyDir();
	    enemySpeedAngle = Degree::normalizeAngle(enemySpeedAngle);
	    enemySpeedAngle = fabs(enemySpeedAngle);
	    if(enemySpeedAngle < 17)
		speedValue[i] += 3.5;
	    if (enemySpeedAngle > 32)	
		speedValue[i] -= 5;
	}
    
}


void SRPDribble::getNextStatusValue()
{
    Point targetPoint;
    targetPoint.x = 51;
    if(worldModel->getBody().getPos().getX() < 36)
		targetPoint.y = worldModel->getBody().getPos().getY();
    else
		targetPoint.y = 0;
	
    int bodyListNumber;
//    Point nextBodyPoint;	
    Vector dribbleTargetVector, goToBallTargetVector;
    float deltaAngleToTarget;
	
	for (unsigned i = 0; i < worldModel->getCurKickCalculate().getSimulatesNum(); i++)
	{
	    if (!worldModel->getCurKickCalculate().getSimulate(i).isValid())
	    {
			nextStatusValue[i] = -999;
			continue;
	    }

	    if (!worldModel->getCurKickCalculate().getSimulate(i).existFastestPlayer())
	    {
			nextStatusValue[i] = -999;
	    	continue;
	    }	

	    bodyListNumber = worldModel->getCurKickCalculate().getSimulate(i).getCheckedListNum(worldModel->getBody());

		if (bodyListNumber == NOVALUE)
		{
			nextStatusValue[i] = -999;
			continue;
		}
	    
	    myGoToBallPoint[i] = worldModel->getCurKickCalculate().getSimulate(i).getCheckedInterPlayer(bodyListNumber).getInterPoint();
	    
	    dribbleTargetVector.setByPoints(worldModel->getBody().getPos(), targetPoint);
	    goToBallTargetVector.setByPoints(worldModel->getBody().getPos(), myGoToBallPoint[i]);
	     	
	    deltaAngleToTarget = goToBallTargetVector.getDirection() - dribbleTargetVector.getDirection();
	    deltaAngleToTarget = Degree::normalizeAngle(deltaAngleToTarget);
	    deltaAngleToTarget = fabs(deltaAngleToTarget);
	    
	    nextStatusValue[i] = myGoToBallPoint[i].x - worldModel->getBody().getPos().getX();
	}
}

void SRPDribble::getPathValue()
{
	float firstXPathStep = 42;
	Point targetPoint;
	targetPoint.x = 51;
	if(worldModel->getBody().getPos().getX() < firstXPathStep)
	    targetPoint.y = worldModel->getBody().getPos().getY();
	else
	    targetPoint.y = 0;
    	
    int bodyListNumber;
//    Point nextBodyPoint;	
    Vector dribbleTargetVector, goToBallTargetVector;
    float deltaAngleToTarget;
	
	for (unsigned i = 0; i < worldModel->getCurKickCalculate().getSimulatesNum(); i++)
	{
	    if (!worldModel->getCurKickCalculate().getSimulate(i).isValid())
	    {
			pathValue[i] = -999;
			continue;
	    }

	    if (!worldModel->getCurKickCalculate().getSimulate(i).existFastestPlayer())
	    {
			pathValue[i] = -999;
	    	continue;
	    }	

	    bodyListNumber = worldModel->getCurKickCalculate().getSimulate(i).getCheckedListNum(worldModel->getBody());
	
		if (bodyListNumber == NOVALUE)
		{
			pathValue[i] = -999;
			continue;
		}
	    
	    myGoToBallPoint[i] = worldModel->getCurKickCalculate().getSimulate(i).getCheckedInterPlayer(bodyListNumber).getInterPoint();
	    
	    dribbleTargetVector.setByPoints(Point(worldModel->getBody().getPos().getX(), worldModel->getBody().getPos().getY()), targetPoint);
	    goToBallTargetVector.setByPoints(Point(worldModel->getBody().getPos().getX(), worldModel->getBody().getPos().getY()), myGoToBallPoint[i]);
	     	
	    deltaAngleToTarget = goToBallTargetVector.getDirection() - dribbleTargetVector.getDirection();
	    deltaAngleToTarget = Degree::normalizeAngle(deltaAngleToTarget);
	    deltaAngleToTarget = fabs(deltaAngleToTarget);
	    
	    pathValue[i] = (180 - deltaAngleToTarget) / 15.00;  
	
		if (targetPoint.y != 0)
		{
			deltaAngleToTarget = fabs(goToBallTargetVector.getDirection());
	    	pathValue[i] = fmax((180 - deltaAngleToTarget) / 15.00, pathValue[i]);  
		}
	}
    
}

void SRPDribble::getOppBallVectorValue()
{
	float oppDeltaDir;

	Point oppFastestPoint;		
	Vector meToInterPointVector, oppToInterPointVector;
	for (unsigned i = 0; i < worldModel->getCurKickCalculate().getSimulatesNum(); i++)
	{
	    if (!worldModel->getCurKickCalculate().getSimulate(i).isValid())
	    {
			oppBallVectorValue[i] = -999;
			continue;
	    }

	    if (!worldModel->getCurKickCalculate().getSimulate(i).existFastestPlayer())
	    {
			oppBallVectorValue[i] = -999;
	    	continue;
	    }