myteam.cpp~

底层robocup3d源码。 suse１０．０ kdevelop 开发.

/***************************************************************************
 *   Copyright (C) 2006 by root   *
 *   root@linux   *
 *                                                                         *
 *   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; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   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 paramTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/


#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
#include <string>
#include <sstream>
#include <sys/types.h>
#include <stdio.h>
#include <unistd.h>
#include <iostream>
#include <fstream>
#include <cstdlib>
#include <time.h>
#include <math.h>
#include "param.h"
#include "geometry.h"
#include "file.h"
#include "worldmodel.h"
#include "connect.h"
#include "command.h"
#include "skills.h"
#include "connect.h"
using namespace std;
using namespace MSpace;
Connect net;
Skills skills;
Param  param;
Geometry geometry;
Command command;
File file;
Worldmodel world;
int main(int argc, char *argv[])
{ 
   file.ReadFormationIntoArray();
   int SenceCount=0;
   Vec v,v2;
   bool done=false;
   double timetemp,time=0;
   Vec tempP,interupt;
   MoveState state;
   int rely=0;
   bool kickover=true;
   if(argc>1)param.TeamName=argv[1];
 while(true)
     {
         if(!net.GetInput())break;
	//cout<<net.GetMsg()<<endl;
             if(param.CycleSent<70)
             {
                param.GetCycle(net.GetMsg());
                param.GetInit(net.GetMsg(),net.MessageLength);
             }
             else if(SenceCount>0)
             param.prase(net.GetMsg(),net.MessageLength);
         char st=net.GetMsg()[0];
         if(st=='D')
             net.PutOutputs("I");
         else if(st == 'S' || st == 'T')
          {
               if(SenceCount == 0) net.PutOutputs("A(create)");
               else if(SenceCount == 1)
               {
                    command.Create(param.TeamName,0);
               }
               else
               {
			
		       if(st=='S')world.Updata();
		       if(param.PlayMode=="BeforeKickOff")
		       {
			       v.Vx=file.FT_initial[param.PlayerNumber-1][0];
			       v.Vy=file.FT_initial[param.PlayerNumber-1][1];
			       command.Beam(v);
		       }
		       else
		       {
			       world.SetFormation(2);
			       world.UpBallState();
			       if(st=='T')world.ForeseeMyState();
		       		Vec position=world.GetMeV();
		       		Vec ballp=world.GetBallV();
		       		Pol pol=world.GetBallP();
		       		if(st=='S')
		       		{ 
					 world.UpMystate();
			   		// if(param.CycleSent!=param.BallCycle)skills.FindBall();
			    		for(int cycle=STEP;cycle<20;cycle=cycle+STEP)
			   		 {
				    		command.Notify(param.CycleReceive+cycle);
			    		}	
					
		         	}
				state=world.GetMyState();
				MoveState state_ball;
			        state_ball=world.GetBallState();
                                if(world.IsUsKickOff()&&param.PlayerNumber==9)
		                {
			           v=Vec(50,0,0);
			           command.PutDrive(v);
		                }
				else if(param.PlayerNumber!=13)
		                {
					if(world.IsMeClosestToBall())
					{
						Vec v=state_ball.PositionV-state.PositionV;
						v.Vz=0;
						double Intercept_time;
						Vec V=world.InterceptBall(Intercept_time,rely);
						V.Vz=0;
						if(v.GetMod()>0.5&&kickover)
						{
							Vec correction;
							skills.DashTo(V,correction);
						}
						else
		                		{
							kickover=false;
							Vec arm1=Vec(0,0,0);
							skills.KickToAir(arm1,4.0,kickover);
			            			//Angel a(35);
			            			//command.PutKick(a,100);
						}
			            		//agent.Say("gogogo");
                                	}
					else
					{
						Vec posV=world.GetMyStrategy();
						Vec correction;
						skills.DashTo(posV,correction);
					}
				}
				else if(param.PlayerNumber==13)
				{
					if(world.IsMeClosestToBall())
					{
						Vec v=state_ball.PositionV-state.PositionV;
						v.Vz=0;
						double Intercept_time;
						Vec V=world.InterceptBall(Intercept_time,rely);
						V.Vz=0;
						if(v.GetMod()>2.0)
						{
							Vec correction;
							skills.DashTo(V,correction);
						}
						else
						{
							//Vec arm1=Vec(0,0,0);
							//skills.KickToGround(arm1,4.0,over);
							Angel ang(-45);
							skills.DribbleTo(ang,2);
			            			//Angel a(35);
			            			//command.PutKick(a,100);
						}
			            		//agent.Say("gogogo");
					}
					else
					{
						Vec posV=world.GetMyStrategy();
						Vec correction;
						skills.DashTo(posV,correction);
					}
				}
		              // cout<<"Cycle:"<<param.CycleReceive<<" speed:"<<state_ball.speed<<" MOD:"<<state_ball.speed.GetMod()<<"position:"<<state_ball.PositionV<<endl;
			       //cout<<"Cycle:"<<param.CycleReceive<<"     MYspeed:"<<state.speed<<" MOD:"<<state.speed.GetMod()<<"   MYposition:"<<state.PositionV<<endl;
		       }
		       command.SentCommand();
               }
             command.Done();
             ++SenceCount;
          }
}/*
   Vec Vspeed;
   Vec position(0,0,0);
   Vec    BallPositionV(6,-1,0.111);
   Vec dist=position-BallPositionV;
   dist.Vz=0.0;
   double s=dist.GetMod();
   double v0=10;
   Vspeed=dist;
   Vspeed.SetMod(v0);
   Vspeed.Vz=v0*0.57735;
   Vec ball_speed(0,0,0);
   Vspeed=Vspeed-ball_speed;
   Vec MyPositionV(10,-1,0.222);
   Vec temp1=BallPositionV-MyPositionV;
   temp1.Vz=0.0;
//   if(temp1.GetMod()<0.3)return;
   cout<<" temp1:"<<temp1<<" Vspeed:"<<Vspeed<<endl;
   cout<<" temp1.GetXYAngel():"<<temp1.GetXYAngel()<<" Vspeed.GetXYAngel():"<<Vspeed.GetXYAngel()<<endl;
   Angel angel1(temp1.GetXYAngel());
   Angel angel2(Vspeed.GetXYAngel());
   cout<<" angel1:  "<<angel1.angel<<"  angel2:  "<<angel2.angel<<endl;
   double  KickAble=param.AgentRadius+param.BallRadius+0.3;
   Vec Force=temp1;
   Force.SetMod(10);
   double direction=fabs((angel1-angel2).angel);
   cout<<direction<<endl;
 /* for(angel=0.0;angel<50.0;angel++)
  {
	  cout<<"  angel="<<angel;
	  v0_XY=cos(angel/180.0*PAI)*v0;
	  cout<<"  v0_XY="<<v0_XY;
	  v0_Z=sin(angel/180.0*PAI)*v0;
	  cout<<"  v0_Z="<<v0_Z;
          t=world.Get_t_Z(v0_Z,s);
	  t_XY=t;
          cout<<"  t="<<t_XY;
          s_XY=world.Get_s_XY(v0_XY,t_XY,k);
          cout<<"  s_XY="<<s_XY; 
          v_t_XY=world.Get_Vt_XY( v0_XY, t_XY,k);
          cout<<"  v_t_XY="<<v_t_XY<<endl;
  }*/
 // cout<<world.Get_V0_XY_st( 1.98302,0.15,k);
  
  
 return EXIT_SUCCESS;
}