simplestrange.h

一个简单的基础机器人足球程序

// The following ifdef block is the standard way of creating macros which make exporting 
// from a DLL simpler. All files within this DLL are compiled with the SIMPLESTRANGE_EXPORTS
// symbol defined on the command line. this symbol should not be defined on any project
// that uses this DLL. This way any other project whose source files include this file see 
// SIMPLESTRANGE_API functions as being imported from a DLL, wheras this DLL sees symbols
// defined with this macro as being exported.
#pragma  once

#include "const.h"

#ifdef SIMPLESTRANGE_EXPORTS
#define SIMPLESTRANGE_API __declspec(dllexport)
#else
#define SIMPLESTRANGE_API __declspec(dllimport)
#endif

struct Vector3D
{
	double x, y, z;
	Vector3D()
	{
	}
	Vector3D(double dbx,double dby,double dbz):x(dbx),y(dby),z(dbz)
	{
	}
};

typedef struct
{
	long left, right, top, bottom;
} Bounds;

typedef struct
{
	Vector3D pos;
	double rotation;
	double velocityLeft, velocityRight;
} Robot;

typedef struct
{
	Vector3D pos;
	double rotation;
} OpponentRobot;

typedef struct
{
	Vector3D pos;
} Ball;

typedef struct
{
	Robot home[PLAYERS_PER_SIDE];
	OpponentRobot opponent[PLAYERS_PER_SIDE];
	Ball currentBall, lastBall, predictedBall;
	Bounds fieldBounds, goalBounds;
	long gameState;
	long whosBall;
	void *userData;
} Environment;



//************************************************************************************
//*****以下为自定义扩展结构体，大家可以在此基础上进行扩展，添加自己需要的数据*********
//************************************************************************************

/////// 相对位置 或者速度  z为相对角度，v 为位移 
typedef struct
{
	double x, y, z;
	union{
		double v;		//速度
		double dis;		//距离
	};
} FromTo,Speed;

////我方单个队员的资料
typedef struct 
{
	Vector3D InitPos;		//初始位置

	Vector3D pos;
	double rotation;
	double velocityLeft, velocityRight;

	Vector3D oldpos;		//记录 我方 队员的旧坐标,方向
	Vector3D oldvelocity;	//纪录 我方 队员上次驱动力

	Speed speed;			//纪录 我方 队员的速度，跑位的方向
	FromTo ToBall;	//人和球的相对位置
	FromTo NextToBall;	//人和球的相对位置

	Vector3D BestBall;		//人和球的相对位置

	bool deel;				// 是否某个队员的处理已经搞定，避免重复给一个人施加动作
	int pre_steps;			//要想碰到球，需要的步数！！！！
	Vector3D ball;			//人和球的相对位置

} MyRobot;

////对方单个队员的资料
typedef struct 
{
	Vector3D pos;
	double rotation;

	Vector3D oldpos;	//记录 对方 队员的旧坐标,方向
	Vector3D InitPos;		//初始位置
	Speed speed;		//纪录 对方 队员的速度，跑位的方向
	FromTo ToBall;	//对方 队员和球的相对位置
} MyOpponent;

//// 足球
typedef struct 
{
	Vector3D oldpos;		//上一次球的位置
	Vector3D pos;		//现在球的位置
	Vector3D prepos;		//数周期之后球的位置

	Speed speed;			//速度
	FromTo ToGate;		//球和对方球门的相对位置
	double gate_angle;		//和门柱的夹角，很有用可以判断球是否好进啊
	FromTo GateTo;		//球和我方球门的相对位置
} MyBall;

typedef struct
{
	MyRobot robot[5];			// 我方 队员
	MyOpponent opp[5];			// 对方 队员
	MyBall ball;				// 球子

	bool judged;				// 已经 判断了场地吗？？它的值只改变一次
	bool is_yellow;				//是 黄队  ？？

	long gameState;			//0,1,2,3,4,5  
	long whosBall;			//0,1,2
	long penalty_count;		//点球的计时
}MyEnv;

//********************************************************************


/* MUST BE IMPLEMENTED */
extern "C" SIMPLESTRANGE_API void Create ( Environment *env ); // implement this function to allocate user data and assign to Environment->userData
extern "C" SIMPLESTRANGE_API void Strategy ( Environment *env );
extern "C" SIMPLESTRANGE_API void Destroy ( Environment *env ); // implement this function to free user data created in  Create (Environment*)

void Pre (Environment *env);
void End (Environment *env);
void Play(MyEnv* g);