score_bms.c.ps

Brainstormers(头脑风暴)队是05年robocup冠军,这是05年Brainstormers公布的源代码,Brainstormers是robocup老牌的德国强队

(343) # (  Value test_vels_1step[9];) N
(344) # (  Value test_vels_multi[9];) N
(345) # (  ) S
(int) k
( one_step_kick_possible[9];) p n
(346) # (  ) S
(int) k
( multi_kick_possible[9];) p n
(347) # (  ) S
(int) k
( secure_1step_kick_possible[9];) p n
(348) # (  ) S
(int) k
( secure_multi_kick_possible[9];) p n
(349) # (  ) S
(int) k
( ball_steps_to_goal[9];) p n
(350) # (  ) S
(int) k
( ret = 0;) p n
(351) # () N
(352) # (  Vector ball_pos = WSinfo::ball->pos;) N
(353) # () N
(354) # () S
(#if) K
( 0 ) p
(// ridi 22.6.03 : replaced by new access to goalie) c n
(355) # () S
(  WSpset alive_opps = WSinfo::alive_opponents;) p n
(356) # (  PPlayer goalie = alive_opps.get_player_by_number\(WSinfo::ws->his_goalie_number\);) N
(357) # () S
(#endif) K n
(358) # () N
(359) # () S
(  PPlayer goalie =WSinfo::his_goalie;) p n
(360) # () N
(361) # (  ) S
(if) K
( \(goalie == ) p
(NULL) K
(\) {) p n
(362) # (    ret = 5;) N
(363) # (    WSpset valid_opps = WSinfo::valid_opponents;) N
(364) # (    valid_opps.keep_and_sort_closest_players_to_point\(1, mdpInfo::opponent_goalpos\(\)\)) N
0 T (;) N
(365) # (    ) S
(if) K
( \(valid_opps.num <= 0\) {) p n
(366) # (      ) S
(return) K
( 6;) p n
(367) # (    }) N
(368) # (    goalie = valid_opps[0];) N
(369) # (  }) N
(370) # () N
(371) # (  Vector goalie_pos = goalie->pos;) N
(372) # (  ) S
(int) k
( goalie_age = goalie->age;) p n
(373) # (  Vector goalie_vel = goalie->vel;) N
(374) # (  ) S
(int) k
( goalie_vel_age = goalie->age_vel;) p n
(375) # (  ) N
(376) # (  Value goalie_initial_size = goalshot_param1;) S
(//0.4) c n
(377) # () N
(378) # () N
(379) # () S
(  ) p
(if) K
( \(\(\(ball_pos-goalie_pos\).norm\(\) > 20.0\) &&) p n
(380) # (      \(Tools::get_angle_between_null_2PI\(\(\(ServerOptions::their_left_goal_corner-ball) N
0 T (_pos\).arg\(\) - ) N
(381) # () S 8 T () S 16 T () S 24 T () S 32 T () S 40 T (  \(goalie_pos-ball_pos\).arg\(\)\)\) < M_PI\) &&) N
(382) # (      \(Tools::get_angle_between_null_2PI\(\(\(goalie_pos-ball_pos\).arg\(\) - ) N
(383) # () S 8 T () S 16 T () S 24 T () S 32 T () S 40 T (  \(ServerOptions::their_right_goal_corner-bal) N
0 T (l_pos\).arg\(\)\)\)<M_PI\)\) {) N
(384) # (    LOG_DAN\(0, << ") S
(don't consider shooting, goalie is on place and I'm too far away!) str
("\);) p n
(385) # (    ) S
(return) K
( 0;) p n
(386) # (  }) N
(387) # () N
(388) # (  consider_special_cases\(goalie_age, goalie_vel_age, goalie_vel, goalie_initial_size,) N
0 T ( goalie_pos, goalie\);) N
(389) # () N
(390) # (  fill_target_arrays\(test_targets, test_dirs, 9, ball_pos\);) N
(391) # () N
(392) # (  ) S
(//fill_velocity_arrays\(test_vels_1step, test_vels_multi, test_dirs, 9\);) c n
(393) # () S
(  fill_velocity_arrays\(test_vels_1step, test_vels_multi, test_targets, 9\);) p n
(394) # () N
(395) # (  Vector kick_vel;) N
(396) # (  ) S
(int) k
( goalie_intercepts = 0;) p n
(397) # (  ) S
(int) k
( player_intercepts = 0;) p n
(398) # (  ) S
(int) k
( best_kick = -1;) p n
(399) # (  ) S
(int) k
( kick_found = 0;) p n
(400) # () N
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(401) # (  Value goalie_size = goalie_initial_size;) p n
(402) # () N
(403) # (  ) S
(//test for multi-step-kicks, use current goalie-pos\(even if old\)) c n
(404) # () S
(  ) p
(for) K
( \() p
(int) k
( i = 0; i < 9; i++\) {) p n
(405) # (    kick_vel.init_polar\(test_vels_multi[i], test_dirs[i]\);) N
(406) # (    goalie_intercepts = intercept_goalie\(ball_pos, kick_vel, goalie_pos, goalie_size ) N
0 T (+ 0.3\);) N
(407) # (    ) S
(if) K
( \(goalie_intercepts <= 0\) {) p n
(408) # (      multi_kick_possible[i] = 1;) N
(409) # (      kick_found = 1;) N
(410) # (    } ) S
(else) K
( {) p n
(411) # (      multi_kick_possible[i] = 0;) N
(412) # (    }) N
(413) # (    ) S
(/*) c n
(414) # (    LOG_DAN\(0, << _2D << L2D\( ball_pos.x, ball_pos.y, ball_pos.x + kick_vel.x * 3.0, ) N
(415) # () S 8 T () S 16 T () S 24 T (      ball_pos.y + kick_vel.y * 3.0, "#ff0000" \)\);) N
(416) # (    */) N
(417) # () S
(  }) p n
(418) # () N
(419) # (  ) S
(//no multi-kick found => no single kick is possible, return!) c n
(420) # () S
(  ) p
(//if \(!kick_found\) return 0;) c n
(421) # () S
(  ) p n
(422) # (  ) S
(for) K
( \() p
(int) k
( i = 0; i < 9; i++\) {) p n
(423) # (    ) S
(//only test for 1step-kick if multi-step-kick could be succesful) c n
(424) # () S
(    ) p
(/*) c n
(425) # (    if \(!multi_kick_possible[i]\) {) N
(426) # (      one_step_kick_possible[i] = 0;) N
(427) # (      continue;) N
(428) # (      }*/) N
(429) # () N
(430) # () S
(    kick_vel.init_polar\(test_vels_1step[i], test_dirs[i]\);) p n
(431) # (    goalie_intercepts = intercept_goalie\(ball_pos, kick_vel, goalie_pos, goalie_size\)) N
0 T (;) N
(432) # (    ball_steps_to_goal[i] = goalie_intercepts;) N
(433) # (    ) S
(if) K
( \(goalie_intercepts <= 0\) {) p n
(434) # (      one_step_kick_possible[i] = 1;) N
(435) # (      kick_found = 1;) N
(436) # (    } ) S
(else) K
( {) p n
(437) # (      one_step_kick_possible[i] = 0;) N
(438) # (    }) N
(439) # (  }) N
(440) # () N
(441) # (  ) S
(//no kick found => return!) c n
(442) # () S
(  ) p
(if) K
( \(!kick_found\) ) p
(return) K
( 0;) p n
(443) # () N
(444) # (  ) S
(if) K
( \(\(goalie_age <= 4\) &&) p n
(445) # (      \(goalie_age >= 1\)\) {) N
(446) # (    Value goalie_dir = \(goalie->pos - ball_pos\).arg\(\);) N
(447) # (    ) S
(int) k
( top_of_goalie_shots = 0, bottom_of_goalie_shots = 0;) p n
(448) # (    ) S
(for) K
( \() p
(int) k
( i = 0; i < 9; ++i\) {) p n
(449) # (      ) S
(if) K
( \(multi_kick_possible[i]\) {) p n
(450) # () S 8 T () S
(if) K
( \(Tools::get_angle_between_null_2PI\(test_dirs[i]-goalie_dir\) < M_PI\) {) p n
(451) # () S 8 T (  ++top_of_goalie_shots;) N
(452) # () S 8 T (} ) S
(else) K
( {) p n
(453) # () S 8 T (  ++bottom_of_goalie_shots;) N
(454) # () S 8 T (}) N
(455) # (      }) N
(456) # (    }) N
(457) # (    ) S
(//shots on both sides of goalie are possible => goalie can't cover the whole goal) c n
0 T (, even if he) N
(458) # () S
(    ) p
(//moved, declare the shots with old goalie-pos as secure!) c n
(459) # () S
(    ) p
(if) K
( \(\(top_of_goalie_shots > 0\) && \(bottom_of_goalie_shots > 0\)\) {) p n
(460) # (      LOG_DAN\(0, << ") S
(goalie is old, but shots on both sides of goalie are possible, use old goalie-pos) str
("\);) p n
(461) # (      ) S
(for) K
( \() p
(int) k
( i = 0; i < 9; ++i\) {) p n
(462) # () S 8 T (secure_multi_kick_possible[i] = multi_kick_possible[i];) N
(463) # () S 8 T (secure_1step_kick_possible[i] = one_step_kick_possible[i];) N
(464) # (      }) N
(465) # (      ) S
(//hack: don't consider the other shots below) c n
(466) # () S
(      goalie_age = 0;) p n
(467) # (    }) N
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(468) # (  }) p n
(469) # () N
(470) # (  ) S
(if) K
( \(goalie_age <= 4\) {) p n
(471) # (    goalie_size = goalie_initial_size + 0.8 * goalie_age;) N
(472) # (  } ) S
(else) K
( {) p n
(473) # (    ) S
(//no special case here) c n
(474) # () S
(    goalie_size = goalie_initial_size + 0.8 * goalie_age;) p n
(475) # (  }) N
(476) # () N
(477) # (  LOG_DAN\(0, << ") S
(goalie_age ist ) str
(" << goalie_age\);) p n
(478) # (  LOG_DAN\(0, << ") S
(goalie_size ist ) str
(" << goalie_size\);) p n
(479) # () N
(480) # (  ) S
(if) K
( \(goalie_age >= 1\) {) p n
(481) # () N
(482) # (    ) S
(for) K
( \() p
(int) k
( i = 0; i < 9; ++i\) {) p n
(483) # (      kick_vel.init_polar\(test_vels_multi[i], test_dirs[i]\);) N
(484) # (      goalie_intercepts = intercept_goalie\(ball_pos, kick_vel, goalie_pos, goalie_siz) N
0 T (e\);) N
(485) # (      ) S
(if) K
( \(goalie_intercepts <= 0\) {) p n
(486) # () S 8 T (secure_multi_kick_possible[i] = 1;) N
(487) # (      } ) S
(else) K
( {) p n
(488) # () S 8 T (secure_multi_kick_possible[i] = 0;) N
(489) # (      }) N
(490) # (    }) N
(491) # () N
(492) # (    ) S
(for) K
( \() p
(int) k
( i = 0; i < 9; ++i\) {) p n
(493) # (      ) S
(if) K
( \(!secure_multi_kick_possible[i]\) {) p n
(494) # () S 8 T (secure_1step_kick_possible[i] = 0;) N
(495) # () S 8 T () S
(continue) K
(;) p n
(496) # (      }) N
(497) # (      kick_vel.init_polar\(test_vels_1step[i], test_dirs[i]\);) N
(498) # (      goalie_intercepts = intercept_goalie\(ball_pos, kick_vel, goalie_pos, goalie_siz) N
0 T (e\);) N
(499) # (      ) S
(if) K
( \(goalie_intercepts <= 0\) {) p n
(500) # () S 8 T (secure_1step_kick_possible[i] = 1;) N
(501) # (      } ) S
(else) K
( {) p n
(502) # () S 8 T (secure_1step_kick_possible[i] = 0;) N
(503) # (      }) N
(504) # (    }) N
(505) # () N
(506) # (  } ) S
(else) K
( {) p n
(507) # (    ) S
(for) K
( \() p
(int) k
( i = 0; i < 9; ++i\) {) p n
(508) # (      secure_multi_kick_possible[i] = multi_kick_possible[i];) N
(509) # (      secure_1step_kick_possible[i] = one_step_kick_possible[i];) N
(510) # (    }) N
(511) # (  }) N
(512) # () N
(513) # (  ) S
(//test if opponent could intercept) c n
(514) # () S
(  ) p
(for) K
( \() p
(int) k
( i = 0; i < 9; ++i\) {) p n
(515) # (    ) S
(//if \(!multi_kick_possible[i]\) continue;) c n
(516) # () S
(    ) p n
(517) # (    player_intercepts = intercept_opponents\(test_dirs[i], test_vels_multi[i], -ball_s) N
0 T (teps_to_goal[i]\);) N
(518) # (    ) S
(if) K
( \(player_intercepts\) {) p n
(519) # (      LOG_DAN\(0, << ") S
(opponent number ) str
(" << player_intercepts ) p n
(520) # () S 8 T (      << ") S
( intercepts ball before goalline, don't shoot!) str
("\);) p n
(521) # (      multi_kick_possible[i] = 0;) N
(522) # (      secure_multi_kick_possible[i] = 0;) N
(523) # (      one_step_kick_possible[i] = 0;) N
(524) # (      secure_1step_kick_possible[i] = 0;) N
(525) # (    }) N
(526) # (  }) N
(527) # () N
(528) # () N
(529) # (  ) S
(int) k
( one_step_kick_found = 0, multi_kick_found = 0;) p n
(530) # (  ) S
(int) k
( secure_1step_kick_found = 0, secure_multi_kick_found = 0;) p n
(531) # () N
(532) # () N
(533) # (  ) S
(for) K
( \() p
(int) k
( i = 0; i < 9; ++i\) {) p n
(534) # (    ) S
(if) K
( \(secure_multi_kick_possible[i]\) ++secure_multi_kick_found;) p n
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(535) # (    ) p
(if) K
( \(secure_1step_kick_possible[i]\) ++secure_1step_kick_found;) p n
(536) # (    ) S
(if) K
( \(multi_kick_possible[i]\) ++multi_kick_found;) p n
(537) # (    ) S
(if) K
( \(one_step_kick_possible[i]\) ++one_step_kick_found;) p n
(538) # (  }) N
(539) # () N
(540) # (  ) S
(//select best kick) c n
(541) # () S
(  ) p
(if) K
( \(secure_multi_kick_found != 0\) {) p n
(542) # () N
(543) # (    ) S
(if) K
( \(\(secure_multi_kick_found > secure_1step_kick_found\) ||) p n
(544) # () S 8 T (\(secure_1step_kick_found == 0\)\) {) N
(545) # (      ) S
(//if \(\(mdpInfo::opponents_within_range\(WSinfo::me->pos, 2.0\) == 0\) || ) c n
(546) # () S
(      ) p
(//\(secure_1step_kick_found == 0\) ||) c n
(547) # () S
(      ) p
(//\(secure_multi_kick_found > secure_1step_kick_found\)\) {) c n
(548) # () N
(549) # () S
(      best_kick = select_best_kick\(secure_multi_kick_possible, 9\);) p n
(550) # (      multi_step = 1;) N
(551) # (      velocity = test_vels_multi[best_kick];) N
(552) # (      direction = test_dirs[best_kick];) N
(553) # (      target = test_targets[best_kick];) N
(554) # (      ) S
(if) K
( \(ret == 0\) {) p n
(555) # () S 8 T () S
(if) K
( \(best_kick >= 7\) {) p n
(556) # () S 8 T (  ret = 4;) N
(557) # () S 8 T (} ) S
(else) K
( {) p n
(558) # () S 8 T (  ret = 1;) N
(559) # () S 8 T (}) N
(560) # (      }) N
(561) # (    } ) S
(else) K
( {) p n
(562) # (      best_kick = select_best_kick\(secure_1step_kick_possible, 9\);) N
(563) # (      multi_step = 0;) N
(564) # (      velocity = test_vels_1step[best_kick];) N
(565) # (      direction = test_dirs[best_kick];) N
(566) # (      target = test_targets[best_kick];) N
(567) # (      ) S
(if) K
( \(ret == 0\) {) p n
(568) # () S 8 T () S
(if) K
( \(best_kick >= 7\) {) p n
(569) # () S 8 T (  ret = 4;) N
(570) # () S 8 T (} ) S
(else) K
( {) p n
(571) # () S 8 T (  ret = 1;) N
(572) # () S 8 T (}) N
(573) # (      }) N
(574) # (    }) N
(575) # () N
(576) # (  } ) S
(else) K
( ) p
(if) K
( \(secure_1step_kick_found != 0\) {) p n
(577) # () N
(578) # (    best_kick = select_best_kick\(secure_1step_kick_possible, 9\);) N
(579) # (    multi_step = 0;) N
(580) # (    velocity = test_vels_1step[best_kick];) N
(581) # (    direction = test_dirs[best_kick];) N
(582) # (    target = test_targets[best_kick];) N
(583) # (    ) S
(if) K
( \(ret == 0\) {) p n
(584) # (      ) S
(if) K