srpdribble.cpp

RoboCup 2D 仿真组老牌强队Mersad 2005的完整源代码

		if (!worldModel->getCurKickCalculate().getSimulate(i).existFastestOppPlayer())
		{
			oppBallVectorValue[i] = 1;
			continue;
		}
		

		oppFastestPoint = worldModel->getCurKickCalculate().getSimulate(i).
						getFastestOppInterPlayer().getPlayer().getPos();

		meToInterPointVector.setByPoints(worldModel->getBody().getPos(), myGoToBallPoint[i]);
		oppToInterPointVector.setByPoints(oppFastestPoint, myGoToBallPoint[i]);
		
		oppDeltaDir = meToInterPointVector.getDirection() - oppToInterPointVector.getDirection();
		oppDeltaDir = Degree::normalizeAngle(oppDeltaDir);
		oppDeltaDir = fabs(oppDeltaDir);
		
		oppBallVectorValue[i] = pow(Degree::cos(oppDeltaDir), 3);
	}
}

void SRPDribble::getBreakDefenseLineValue()
{
	float oppOffsideLine = worldModel->getOppLocalOffLine();
	if (oppOffsideLine == -0xFFFF)
		oppOffsideLine = worldModel->getOppOffsideLine();

	for (unsigned i = 0; i < worldModel->getCurKickCalculate().getSimulatesNum(); i++)
	{
	    if (!worldModel->getCurKickCalculate().getSimulate(i).isValid())
	    {
			breakDefenseLineValue[i] = -999;
			continue;
	    }

	    if (!worldModel->getCurKickCalculate().getSimulate(i).existFastestPlayer())
	    {
			breakDefenseLineValue[i] = -999;
	    	continue;
	    }	
		if (oppOffsideLine == worldModel->getBall().getPos().getX())
			breakDefenseLineValue[i] = 5.9999;
		else
		{
			breakDefenseLineValue[i] = worldModel->getCurKickCalculate().getSimulate(i).
						getFastestInterPlayer().getInterPoint().x - oppOffsideLine;

			if (breakDefenseLineValue[i] < 0)
				breakDefenseLineValue[i] = 0;
				
			if (breakDefenseLineValue[i] > 8)
				breakDefenseLineValue[i] = 8; 
		}
	}
}

void SRPDribble::getSeeInformationValue()
{
    Vector neckSimVector;

	for (unsigned i = 0; i < worldModel->getCurKickCalculate().getSimulatesNum(); i++)
	{
	    if (!worldModel->getCurKickCalculate().getSimulate(i).isValid())
	    {
			seeInformationValue[i] = -999;
			continue;
	    }

	    if (!worldModel->getCurKickCalculate().getSimulate(i).existFastestPlayer())
	    {
			seeInformationValue[i] = -999;
	    	continue;
	    }	
	    neckSimVector.setByPoints(Point(worldModel->getBody().getPos().getX(), worldModel->getBody().getPos().getY()), myGoToBallPoint[i]);

		float seeInfoValue = 0.9323;
		seeInfoValue = worldModel->getSeeDeltaCycle(neckSimVector.getDirection(), 0.5);
		seeInformationValue[i] = 0.333 * (seeInfoValue * seeInfoValue) + seeInfoValue;
	    seeInformationValue[i] *= -1; // It is a big TOF.

	    //////////
	    float deltaAngleToSarePa;
	    deltaAngleToSarePa = worldModel->getBody().getBodyDir() - neckSimVector.getDirection();
	    deltaAngleToSarePa = Degree::normalizeAngle(deltaAngleToSarePa);
	    deltaAngleToSarePa = fabs(deltaAngleToSarePa);

		if(deltaAngleToSarePa > 25)
			seeInformationValue[i] -= (deltaAngleToSarePa / 5) * .1;
	    //////////
	    if(seeInformationValue[i] < -8)
			seeInformationValue[i] = -100;
	}
}

void SRPDribble::getQuantomicStaminaValue()
{
	float subStamina;
	for (unsigned i = 0; i < worldModel->getCurKickCalculate().getSimulatesNum(); i++)
	{
    	if (!worldModel->getCurKickCalculate().getSimulate(i).isValid())
		{
			quantomicStaminaValue[i] = false;
			continue;
		}
	
    	if (!worldModel->getCurKickCalculate().getSimulate(i).existFastestPlayer())
		{
			quantomicStaminaValue[i] = false;
			continue;
		}
 
	    if (sarePaTime[i] < 0)
		{
			quantomicStaminaValue[i] = false;
			continue;
		}

		subStamina = worldModel->getBody().getStamina() + 
				sarePaTime[i] * worldModel->getBody().getStaminaIncMax() - 
				(sarePaTime[i] - 1) * 100; // 100 = default dash power

#ifdef SRPDRIBBLE_LOGLEVEL1
		LOG << "subStamina of " << i << "th sarePa : " << subStamina << endl;
#endif
		
		if (subStamina < 1400)
			quantomicStaminaValue[i] = false;
		else	
			quantomicStaminaValue[i] = true;
	}
}


float SRPDribble::getValue(const Library &library)
{
	LOG << "SRPDribble::getValue" << endl;

    deltaTimeWeightRate = 3;
    nextStatusWeightRate = 4;
    seeInformationWeightRate = 1.5;
    pathWeightRate = .8;
    dangerFieldWeightRate = 150;
    speedWeightRate = 4;
	breakDefenseLineWeightRate = 4;
	oppBallVectorWeightRate = 0;
    
    getNextStatusValue();
    getDangerActionValue();
    getSeeInformationValue();    
    getPathValue();
    getDangerFieldValue();
    getSpeedValue();
	getBreakDefenseLineValue();
	getOppBallVectorValue();
	getQuantomicStaminaValue();
    
    bestSarePaCounter = 0;
    
	for (unsigned i = 0; i < worldModel->getCurKickCalculate().getSimulatesNum(); i++)
	{
	    sarePaWeight[i] = nextStatusValue[i] * nextStatusWeightRate;
	    sarePaWeight[i] += deltaToFirstTime[i] * deltaTimeWeightRate;      
	    sarePaWeight[i] += seeInformationValue[i] * seeInformationWeightRate;      
	    sarePaWeight[i] += pathValue[i] * pathWeightRate;      
	    sarePaWeight[i] += dangerFieldValue[i] * dangerFieldWeightRate;      
	    sarePaWeight[i] += speedValue[i] * speedWeightRate;      
	    sarePaWeight[i] += breakDefenseLineValue[i] * breakDefenseLineWeightRate;      
	    sarePaWeight[i] += oppBallVectorValue[i] * oppBallVectorWeightRate;      
	    if (!quantomicStaminaValue[i])
			sarePaWeight[i] -= 10001;
		if (sarePaTime[i] > 10)
			sarePaWeight[i] -= pow((sarePaTime[i] - 10), 3);
		if (sarePaTime[i] > 6 && deltaToFirstTime[i] == 0)
			sarePaWeight[i] -= 10001;	  

		if (sarePaTime[i] == 1)
		    sarePaWeight[i] -= 10001;		
		

		if (worldModel->getCurKickCalculate().getSimulate(i).
			isValid() &&
			worldModel->getCurKickCalculate().getSimulate(i).
			existFastestPlayer() &&
			worldModel->getCurKickCalculate().getSimulate(i).
			existFastestOppPlayer())
		{	
#ifdef SRPDRIBBLE_LOGLEVEL1
			
			LOG << "])" << i << "([ FastestOpp : " << worldModel->getCurKickCalculate().getSimulate(i).
			getFastestOppInterPlayer().getPlayer().getPos() << endl;
#endif
		}

		if (worldModel->getCurKickCalculate().getSimulate(i).
			isValid() &&
			worldModel->getCurKickCalculate().getSimulate(i).
			existFastestPlayer() &&
			worldModel->getCurKickCalculate().getSimulate(i).
			existFastestOppPlayer() &&
			worldModel->getCurKickCalculate().getSimulate(i).
			getFastestOppInterPlayer().getPlayer().isGoalie() &&
			deltaToFirstTime[i] / deltaTimeWeightRate <= 1)
		{
#ifdef SRPDRIBBLE_LOGLEVEL1
			LOG << "))" << i << "((opponent goalie is in the SRP path" << endl; 
#endif
			sarePaWeight[i] -= 10000;
		
		}
		if (deltaToFirstTime[i] <= 0)
			sarePaWeight[i] -= 35;

	    if(sarePaWeight[i] > sarePaWeight[bestSarePaCounter])
	    {
			bestSarePaCounter = i;
	    }
#ifdef SRPDRIBBLE_LOGLEVEL1
LOG << "---------------------[)" << i << "(]--------------------" << endl;
//LOG << "Command               : " << 
//	worldModel->getCurKickCalculate().
//	getSimulate(i).getKickCommand().toString() << endl;

LOG << "Point                 : " << 
	myGoToBallPoint[i] << endl;
	
    LOG << "SarePa SeeInformation   : " << 
			seeInformationValue[i] * 
			seeInformationWeightRate << endl;		
    LOG << "SarePa nextStatus       : " << 
			nextStatusValue[i] * 
			nextStatusWeightRate << endl;		
    LOG << "SarePa deltaToFirstTime : " << 
			deltaToFirstTime[i] * 
			deltaTimeWeightRate << endl;		
    LOG << "SarePa sarePaTime       : " << 
			sarePaTime[i] << endl;		
    LOG << "SarePa oppGtbTime       : " << 
			oppGtbTime[i] << endl;		
    LOG << "SarePa path             : " << 
			pathValue[i] * 
			pathWeightRate << endl;		
    LOG << "SarePa dangerField      : " << 
			dangerFieldValue[i] * 
			dangerFieldWeightRate << endl;		
    LOG << "SarePa speed            : " << 
			speedValue[i] * 
			speedWeightRate << endl;		
    LOG << "SarePa breakDefense     : " << 
			breakDefenseLineValue[i] * 
			breakDefenseLineWeightRate << endl;		
    LOG << "SarePa oppBallVector    : " << 
			oppBallVectorValue[i] * 
			oppBallVectorWeightRate << endl;		

    LOG << "SAREPA         TOTAL    : " << 
			sarePaWeight[i] << endl;		
#endif

	}
    
	LOG << "bestSarePaWeight : " << sarePaWeight[bestSarePaCounter] << endl;
	LOG << "bestSarePaCounter : " << bestSarePaCounter << endl;
	LOG << "worldModel->getCurKickCalculate().getSimulatesNum() : "
		<< 	worldModel->getCurKickCalculate().getSimulatesNum() << endl;
	
	if (worldModel->getCurKickCalculate().getSimulate(bestSarePaCounter).isValid())
		srpCommand = new KickCommand(*dynamic_cast<const KickCommand *>
			(&worldModel->getCurKickCalculate().getSimulate(bestSarePaCounter).getKickCommand()));
	else
		srpCommand = NULL;

	if (worldModel->getBall().getPos().getX() > 46)
		sarePaWeight[bestSarePaCounter] -= 10009;

	sarePaWeight[bestSarePaCounter] += oppBallVectorValue[bestSarePaCounter] *
										oppBallVectorWeightRate;

	if (breakDefenseLineValue[bestSarePaCounter] <= 0 && 
		!(worldModel->getBall().getPos().getX() > 25 ||
		((worldModel->getBody().getPostNum() == 6 && 
		worldModel->getBall().getPos().getY() > 15) || 
		(worldModel->getBody().getPostNum() == 7 &&  
		worldModel->getBall().getPos().getY() < -15))))
		sarePaWeight[bestSarePaCounter] = -9090;
	else
		sarePaWeight[bestSarePaCounter] += breakDefenseLineValue[bestSarePaCounter] * 2;

	if (pathValue[bestSarePaCounter] < 10.2)
		sarePaWeight[bestSarePaCounter] -= 35 + (10.2 - pathValue[bestSarePaCounter]) * 20;

	if (oppGtbTime[bestSarePaCounter] == 1 && 
		deltaToFirstTime[bestSarePaCounter] == 0)
	{
		LOG << "the target point of best sarepa counter was in opp kickable" << endl;	
		sarePaWeight[bestSarePaCounter] -= 10000;
	}


//	if (worldModel->getCurKickCalculate().getSimulate(bestSarePaCounter).
//		existFastestPlayer() &&
//		worldModel->getCurKickCalculate().getSimulate(bestSarePaCounter).
//		existFastestOppPlayer() &&
//		worldModel->getCurKickCalculate().getSimulate(bestSarePaCounter).
//		getFastestOppInterPlayer().getPlayer().isGoalie() &&
//		deltaToFirstTime[bestSarePaCounter] <= 1)
//	{
//		LOG << "opp fastest player is goalie" << endl;	
//		sarePaWeight[bestSarePaCounter] -= 100;
//	}

		
	float latestSarePaValue = sarePaWeight[bestSarePaCounter];
	
	
	
	
//	if(worldModel->getBody().getStamina() <= 1800)
//		latestSarePaValue -= 400;

//    if(worldModel->getBody().getStamina() > 1800 && worldModel->getBody().getStamina() <= 2200)
//		latestSarePaValue -= 50;
		
	if (latestSarePaValue < 15)
		latestSarePaValue = -10000;

    return latestSarePaValue;
}