goalieplayondecision.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
 *  and is modified by: Mostafa Rokooey
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#include <AdvancedAgent.h>
#include <GoalieIntercept.h>
#include <GoaliePositioning.h>
#include <Intercept.h>
#include <GoaliePlayOnDecision.h>
#include <Clear.h>
#include <BasicKick.h>
#include <Circle.h>

#include <cmath>
#define GOALIE_CATCH_NUM 0
#define CLEAR_NUM 1
#define GOALIE_INTERCEPT_NUM 2
#define INTERCEPT_NUM 3
#define GOALIE_POSITIONING_NUM 4
#define PASS_NUM 5
#define DRIBBLE_NUM 6

using namespace std;


GoaliePlayOnDecision::GoaliePlayOnDecision(
		const WorldModel *worldModel):
		BodyDecision(worldModel)
{
	addAdvancedAction(new GoalieCatch(worldModel),
		AdvancedActionWeights(0, 1, 1), 2);
	addAdvancedAction(new Clear(worldModel),
		AdvancedActionWeights(0, 1, 1), 2);
	addAdvancedAction(new GoalieIntercept(worldModel),
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new Intercept(worldModel),
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new GoaliePositioning(worldModel),
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new Pass(worldModel),
		AdvancedActionWeights(0, 1, 1), 0);
	addAdvancedAction(new Dribble(worldModel),
		AdvancedActionWeights(0, 1, 1), 0);

    dynamic_cast<Pass *>(advancedActions[PASS_NUM])->
        setCurKickCalculate(&worldModel->getCurKickCalculate());

}

GoaliePlayOnDecision::~GoaliePlayOnDecision()
{
}

bool GoaliePlayOnDecision::isBallOppKickable(float minExtra, float maxExtra)
{
	register int i;
	float kickableArea, virtualKickableArea;
	kickableArea = worldModel->getBall().getSize() + 
			worldModel->getBody().getKickableMargin() + 
			worldModel->getBody().getSize();
	
	virtualKickableArea = kickableArea + minExtra;
	
	for (i = 0; i < FULL_PLAYERS_NUM; i++)
		if (worldModel->getFullPlayer(TID_OPPONENT, i).isValid())
			if(worldModel->getFullPlayer(TID_OPPONENT, i).
					getDistance(worldModel->getBall()) 
				<=	(virtualKickableArea + min((float)(worldModel->getFullPlayer(
					TID_OPPONENT, i).getDistance(worldModel->getBody()) * .08),
					maxExtra) ))
				return true;
					
	for (i = 0; i < HALF_PLAYERS_NUM; i++)
		if (worldModel->getHalfPlayer(TID_OPPONENT, i).isValid())
			if(worldModel->getHalfPlayer(TID_OPPONENT, i).
					getDistance(worldModel->getBall()) 
				<=	(virtualKickableArea + min((float)(worldModel->getHalfPlayer(
					TID_OPPONENT, i).getDistance(worldModel->getBody()) * .08), 
					maxExtra) ))
				return true;


	return false;
}


void GoaliePlayOnDecision::decide(int quickLevel,
		Form &form, const Library &library)
{
	resetQuickLevels();
	float passValue;
	bool isPlayerInSafeCircle;
	int i;

	if (worldModel->getBall().getPos().getX() < -36.4 &&
		worldModel->getBody().getPos().getX() < -36.4 &&
		abs(worldModel->getBall().getPos().getY()) < 19.6 &&
		abs(worldModel->getBody().getPos().getY()) < 19.6)
	{
	}
	else if (worldModel->isBallKickable())
	{
		passValue = advancedActions[PASS_NUM]->getValue(library);
		if (passValue >= 25)
		{
			advancedActions[PASS_NUM]->execute(form, library);
			command = advancedActions[PASS_NUM]->getCommand();
		}
		else
		{
			Circle safeDribbleCircle;
			safeDribbleCircle.setByCenterRadius(worldModel->getBody().getPos(),
						3);
			isPlayerInSafeCircle = false;
			for (i = 0; i <= 10; i++)
			{
				if (worldModel->getFullPlayer(TID_OPPONENT, i).isAlive())
					if (safeDribbleCircle.checkPointInArea(
						worldModel->getFullPlayer(
						TID_OPPONENT, i).getPos()))
						isPlayerInSafeCircle = true;
			}
			
			advancedActions[DRIBBLE_NUM]->getValue(library);
			
			if (!isPlayerInSafeCircle && 
				worldModel->getBody().getPos().getX() <= -25.)
			{
				advancedActions[DRIBBLE_NUM]->execute(form, library);
				command = advancedActions[DRIBBLE_NUM]->getCommand();
			}
			else
			{
				if (worldModel->getBall().getPos().getY() > 0)
					command = FastKickToDir(AT_GOALIE_CLEAR, 90, worldModel->getBall(),
								worldModel->getBody()).getCommand();
				else
					command = FastKickToDir(AT_GOALIE_CLEAR, -90, worldModel->getBall(),
								worldModel->getBody()).getCommand();
			}
		}	

		return;
	}

	quickLevels[GOALIE_CATCH_NUM] = 2;
	quickLevels[CLEAR_NUM] = 2;

	if (worldModel->getCurInterCalculate().existFastestTmmPlayer() && (
		(worldModel->getCurInterCalculate().getFastestTmmPlayer().isBody() &&
		!isBallOppKickable(.2,1.5)) || 
		(worldModel->isOppBallShooted(worldModel->getBall()) && 
		!worldModel->isBallInOppKickable())))
	{ // Intercept
		quickLevels[GOALIE_INTERCEPT_NUM] = 1;
		quickLevels[INTERCEPT_NUM] = 1;
		
	}
	else
	{ // Positioning
		quickLevels[GOALIE_POSITIONING_NUM] = 1;
	}

	if (worldModel->getBall().getAbsVec().getMagnitude() < 20)
		form.headForm.tnMode = TNM_LOOK_CAREFULLY_TO_BALL;
	else
		form.headForm.tnMode = TNM_LOOK_NORMALLY_TO_BALL;

	BodyDecision::decide(quickLevel, form, library);
}