skill.cpp

RoboCup 3D 仿真组清华大学2005的源代码

            }
            est_time = player_time;
    
            // if ball rolls more, player must go further    
            if(s + penalty > m) l = m; else r = m;
        }while(r - l > 0.1);

    }
    log.Log("(Intercept) Interception point = (%.3f, %.3f)\n", target[0], target[1]);
    
    return target;
}

// just calculate the intercept point, then goto
int Skill::Intercept(float low, float high, float pen)
{
    int est_time, min_time, max_time;
    Vector3f target = Intercept(0, wm.GetTeamUnum(), low, high, est_time, min_time, max_time, pen);
    Goto(target, true);
    return est_time;
}

salt::Vector3f Skill::GetInterceptPoint(float low, float high, float pen)
{
    int est_time, min_time, max_time;
    return Intercept(0, wm.GetTeamUnum(), low, high, est_time, min_time, max_time, pen);
}

// using intercept() is more accurate, but very expensive
float Skill::InterceptTime(int team, int unum)
{   
    Vector3f pos = wm.GetPlayerPosition(team, unum);
    Vector3f ballpos = wm.GetBallStopPosition();
    pos[2] = 0.0;
    ballpos[2] = 0.0;
    return (pos-ballpos).Length();
}

// consider home players only
// TODO: if two people are very close, one(who is more distant to his BSP) should go away
bool Skill::Interceptable()
{
    int player_count = 11;
    float time = InterceptTime(0, wm.GetTeamUnum());
    for(int i = 1; i <= player_count; i++)
        if (InterceptTime(0, i) < time - 0.1)
            return false;
    return true;
}

void Skill::Dribble(float angle)
{
    Vector3f mypos = wm.GetMyPosition();
    Vector3f ballpos = wm.GetBallPosition();
    ballpos[2] = 0.0;
    Vector3f intpos = GetInterceptPoint(angle-5.0, angle+5.0, 0.0);
    Goto(intpos);
    
    Vector3f driveline(gCos(gDegToRad(angle)), gSin(gDegToRad(angle)), 0.0);
    Vector3f pos = ballpos + driveline;
    
    // well, just try to kick... since vision error is present, 0.5 is safer
    bool safe = true;
    float dist = -100.0;
    float min_disttoline = 1000.0;
    for(int enemy = 1; enemy <= 11; enemy++)
    {
        Vector3f epos = wm.GetPlayerPosition(1, enemy);
        Point ep = MakePoint(epos);
        Point ballp = MakePoint(ballpos);
        Point p = MakePoint(pos);
        Point dummy;
        float dist = GetProjectionDistance(ballp, p, ep);
        float disttoline = fabs(DistanceToLine(ep, ballp, p, dummy));
        if(dist > 0.0 && disttoline < min_disttoline) min_disttoline = disttoline;
        if(dist > -0.3 && dist < 5.0 && disttoline < 2.0) safe = false; // modified
    }    
    
    // kickable
    if((wm.GetMyPosition() - wm.GetBallPosition()).Length() < 0.5)
    {
        bool oktodribble = false;
        if(ballpos[0] < 30.0)
        {
            if(ballpos[0] - wm.GetMyPosition()[0] > 0.3 || 
               situation.Dangerous() && ballpos[0] > wm.GetMyPosition()[0])
               oktodribble = true; 
        }
        else
        {
            if(ballpos[1] > 3.6)
            {
                if(wm.GetMyPosition()[1] > ballpos[1] + 0.3) oktodribble = true;    
            }
            else if(ballpos[1] < -3.6)
            {
                if(wm.GetMyPosition()[1] < ballpos[1] - 0.3) oktodribble = true;
            }
            else
                oktodribble = true;
        }
        if(oktodribble)
        {
            if(safe)
                agent.Kick(0, 5);
            else
            {
                // TODO: if i'm the first one, wait, otherwise, kick
                // current version: read the distance to centerpoint
                float shoottarget;
                bool canshoot = false;
                if(situation.OkToShoot(0, wm.GetTeamUnum(), shoottarget))
                {
                    float center = 0.0f;
                    if(mypos[1] > 3.0) center = -1.2;
                    else if(mypos[1] < -3.0) center = 1.2; 
                    canshoot = true;
                    if(fabs(shoottarget-center) > 2.0 && situation.GetStoppedTime() < 0.5)
                        canshoot = false;
                    if(canshoot)
                    {
                        Vector3f centerpos(wm.GetFieldLength()/2.0, 0.0, 0.0);
                        float dist = (ballpos-centerpos).Length();          
                        if(dist > 18.1) agent.Kick(30, 100);
                        else agent.Kick(30, dist*5.5); // don't kick with too much power!
                    }
                }
                else if(!canshoot)
                {
                    if(ballpos[0] < 20.0) agent.Kick(30, 100); // kick to them quickly ^_*
                    else agent.Kick(50, 30); // near goal, should attention
                }
            }
        }
    }
}

void Skill::Pass(float dist)
{
    float angle = decision.GetPassAngle();
    Intercept(angle - 5.0, angle + 5.0, 0.0);
    
    // kick high?
    bool high = false;
    Vector3f mypos = wm.GetMyPosition();
    Vector3f ballpos = wm.GetBallPosition();
    Vector3f driveline = ballpos - mypos;
    driveline.Normalize();
    Vector3f pos = ballpos + driveline * dist;
    
    int i;    
    for(i = 1; i <= 11; i++)
    {
        Vector3f epos = wm.GetPlayerPosition(1, i);
        Point ep = MakePoint(epos);
        Point p = MakePoint(pos);
        Point ballp = MakePoint(ballpos);
        Point dummy;

        float d = GetProjectionDistance(ballp, p, ep);
        float dline = fabs(DistanceToLine(ep, ballp, p, dummy));
        if(d > 0 && d < dist && dline < 0.4) high = true;
    }
    
    if(high)
    {
        if(dist > 18.1) dist = 18.1;
        agent.Kick(30, dist * 5.5);
    }
    else
    {
        if(dist > 25.0) dist = 25.0;
        agent.Kick(0, dist * 4.0);
    }
}

void Skill::Shoot()
{
    Vector3f mypos = wm.GetMyPosition();
    Vector3f ballpos = wm.GetBallPosition();

    float shoottarget;
    if((ballpos-mypos).Length() < 1.0) // originally 1.0
    {
        bool canshoot = true;
        if(situation.OkToShoot(0, wm.GetTeamUnum(), shoottarget))
        {
            // this is time to adjust to get better scoring chance
            // 2.0 could be changed according to oppmodel
            // even if dangerous, don't shoot...
            float center = 0.0f;
            if(mypos[1] > 3.0) center = -0.8;
            else if(mypos[1] < -3.0) center = 0.8; 
            if(fabs(shoottarget-center) > 2.0 && situation.GetStoppedTime() < 0.5)
            {
                log.Log("(Shoot) cannot 1\n");
                canshoot = false;
            }
            // wrong direction
            if(ballpos[1] > wm.GetGoalWidth()/2.0 && mypos[1] < ballpos[1] + 0.15)
            {
                log.Log("(Shoot) cannot 2\n");
                canshoot = false;
            }
            if(ballpos[1] < -wm.GetGoalWidth()/2.0 && mypos[1] > ballpos[1] - 0.15)
            {
                log.Log("(Shoot) cannt 3\n");
                canshoot = false;
            }
        }
        if(canshoot)
        {
            log.Log("(Shoot) can shoot, target=%.3f, mypos=(%.3f,%.3f), ballpos=(%.3f,%.3f)\n", 
                    mypos[0], mypos[1], ballpos[0], ballpos[1]);
            agent.Kick(0,100); //TODO: enemy in front?
        }
    }
    // the ball is moving! go to the interception point
    float center;
    if(mypos[1] > 3.0) center = -0.8;
    else if(mypos[1] < -3.0) center = 0.8;
    float dx = wm.GetFieldLength()/2.0 - mypos[0];
    float dy1 = center - 2.0 - mypos[1];
    float dy2 = center + 2.0 - mypos[1];
    float angle1 = gRadToDeg(gArcTan2(dy1, dx));
    float angle2 = gRadToDeg(gArcTan2(dy2, dx));
    Vector3f intp = GetInterceptPoint(angle1, angle2);
    Goto(intp);
}