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

( \(best_kick >= 7\) {) p n
(585) # () S 8 T (ret = 4;) N
(586) # (      } ) S
(else) K
( {) p n
(587) # () S 8 T (ret = 1;) N
(588) # (      }) N
(589) # (    }) N
(590) # () N
(591) # (  } ) S
(else) K
( ) p
(if) K
( \(multi_kick_found != 0\) {) p n
(592) # () N
(593) # (    ) S
(if) K
( \(\(multi_kick_found-1 > one_step_kick_found\) ||) p n
(594) # () S 8 T (\(one_step_kick_found == 0\)\) {) N
(595) # (      best_kick = select_best_kick\(multi_kick_possible, 9\);) N
(596) # (      multi_step = 1;) N
(597) # (      velocity = test_vels_multi[best_kick];) N
(598) # (      direction = test_dirs[best_kick];) N
(599) # (      target = test_targets[best_kick];) N
(600) # (      ) S
(if) K
( \(ret == 0\) {) p n
(601) # () S 8 T (ret = 2;) N
(602) # (      }) N
(603) # (    } ) S
(else) K
( {) p n
(604) # (      best_kick = select_best_kick\(one_step_kick_possible, 9\);) N
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(605) # (      multi_step = 0;) p n
(606) # (      velocity = test_vels_1step[best_kick];) N
(607) # (      direction = test_dirs[best_kick];) N
(608) # (      target = test_targets[best_kick];) N
(609) # (      ) S
(if) K
( \(ret == 0\) {) p n
(610) # () S 8 T (ret = 2;) N
(611) # (      }) N
(612) # (    }) N
(613) # () N
(614) # (  } ) S
(else) K
( ) p
(if) K
( \(one_step_kick_found != 0\) {) p n
(615) # () N
(616) # (    best_kick = select_best_kick\(one_step_kick_possible, 9\);) N
(617) # (    multi_step = 0;) N
(618) # (    velocity = test_vels_1step[best_kick];) N
(619) # (    direction = test_dirs[best_kick];) N
(620) # (    target = test_targets[best_kick];) N
(621) # (    ) S
(if) K
( \(ret == 0\) {) p n
(622) # (      ret = 2;) N
(623) # (    }) N
(624) # () N
(625) # (  }) N
(626) # () N
(627) # (  kick_vel.init_polar\(test_vels_multi[best_kick], test_dirs[best_kick]\);) N
(628) # (  LOG_DAN\(0, << ") S
(selected kick nr. ) str
(" << best_kick << ") p
( as best kick) str
("\);) p n
(629) # () N
(630) # (  LOG_DAN\(0, << _2D << L2D\( ball_pos.x, ball_pos.y, ball_pos.x + kick_vel.x * 3.0, ) N
(631) # () S 8 T () S 16 T () S 24 T (    ball_pos.y + kick_vel.y * 3.0, ") S
(ffffff) str
(" \)\);    ) p n
(632) # (  LOG_DAN\(0, << ") S
(return value is ) str
(" << ret\);) p n
(633) # (  best_index = best_kick;) N
(634) # (  ) S
(return) K
( ret;) p n
(635) # (}) N
(636) # () N
(637) # () S
(void) k
( Score::fill_velocity_arrays\(Value *test_vels_1step, Value *test_vels_multi, ) p n
(638) # () S 8 T () S 16 T () S 24 T () S 32 T () S 40 T () S 48 T ( Vector *test_targets, ) S
(int) k
( nr_of_targ) p n
0 T (ets\) {) N
(639) # (  Value one_step_vel, multi_step_vel;) N
(640) # () N
(641) # (  ) S
(for) K
( \() p
(int) k
( i = 0; i < nr_of_targets; ++i\) {) p n
(642) # (    ) S
(//Move_1or2_Step_Kick::get_vel_in_dir\(3.0, test_dirs[i], one_step_vel, multi_step) c n
0 T (_vel\);) N
(643) # () S
(    ) p
(//oneortwo->get_vel_in_dir\(3.0, test_dirs[i], one_step_vel, multi_step_vel\);) c n
(644) # () S
(    ) p
(//oneortwo->get_vel_in_dir\(3.0, test_dirs[i], one_step_vel, multi_step_vel\);) c n
(645) # () N
(646) # () S
(    ) p
(//oneortwo->kick_in_dir_with_max_vel\(ANGLE\(test_dirs[i]\)\);) c n
(647) # () S
(    oneortwo->kick_to_pos_with_max_vel\(test_targets[i]\);) p n
(648) # (    oneortwo->get_vel\(one_step_vel, multi_step_vel\);) N
(649) # (    ) S
(//oneortwo->get_vel\(one_step_vel, multi_step_vel\);) c n
(650) # () N
(651) # () N
(652) # () S
(    ) p
(//if \(one_step_vel > ServerOptions::ball_speed_max * ServerOptions::ball_decay\)) c n
(653) # () S
(    ) p
(if) K
( \(one_step_vel > ServerOptions::ball_speed_max\)) p n
(654) # (      one_step_vel = ServerOptions::ball_speed_max;) N
(655) # (    ) S
(//if \(multi_step_vel > ServerOptions::ball_speed_max * ServerOptions::ball_decay\)) c n
(656) # () S
(    ) p
(if) K
( \(multi_step_vel > ServerOptions::ball_speed_max\)) p n
(657) # (      multi_step_vel = ServerOptions::ball_speed_max;) N
(658) # () N
(659) # (    ) S
(if) K
( \(multi_step_vel < one_step_vel\) {) p n
(660) # (      LOG_DAN\(0, << ") S
(ERROR!!!! multi_step_vel smaller than one_step_vel!) str
("\);) p n
(661) # (    }) N
(662) # () N
(663) # (    test_vels_1step[i] = one_step_vel;) N
(664) # (    test_vels_multi[i] = multi_step_vel;  ) N
(665) # (    ) S
(//test_vels_multi[i] = 2.5;) c n
(666) # () S
(  }) p n
(667) # () N
(668) # (}) N
(669) # () N
(670) # () N
(671) # () S
(void) k
( Score::fill_target_arrays\(Vector *test_targets, Value *test_dirs, ) p n
(672) # () S 8 T () S 16 T () S 24 T () S 32 T () S 40 T (       ) S
(int) k
( nr_of_targets, Vector ball_pos\) {) p n
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(673) # () p n
(674) # (  Vector upper_corner = Vector\(ServerOptions::pitch_length/2.0, ServerOptions::goal_w) N
0 T (idth/2.0\);) N
(675) # (  Vector lower_corner = Vector\(upper_corner.x, -upper_corner.y\);) N
(676) # () N
(677) # () N
(678) # (  Value ang_diff = Tools::get_angle_between_null_2PI\( \(upper_corner-WSinfo::ball->pos) N
0 T (\).arg\(\) - ) N
(679) # () S 8 T () S 16 T () S 24 T () S 32 T () S 40 T () S 48 T (      \(lower_corner-WSinfo::ball->pos) N
0 T (\).arg\(\) \);) N
(680) # () N
(681) # (  Value safety_threshold = DEG2RAD\(3.0\);) N
(682) # (  LOG_DAN\(0, ") S
(ang_diff ist ) str
(" << RAD2DEG\(ang_diff\)\);) p n
(683) # (  ) S
(if) K
( \(\(ball_pos.x > 25.0\) && \(ang_diff < DEG2RAD\(10.0\)\)\) {) p n
(684) # (    safety_threshold = ang_diff / 6.0;) N
(685) # (  } ) S
(else) K
( ) p
(if) K
( \(ang_diff < DEG2RAD\(8.0\)\) {) p n
(686) # (    safety_threshold = ang_diff/8.0;) N
(687) # (  }) N
(688) # () N
(689) # (  Value delta_ang = Tools::get_angle_between_null_2PI\(ang_diff - 2.0*safety_threshold) N
0 T (\) / 6.0; ) N
(690) # (  ) N
(691) # (  Value upper_secure_arg = Tools::get_angle_between_null_2PI\(\(upper_corner-WSinfo::ba) N
0 T (ll->pos\).arg\(\) - ) N
(692) # () S 8 T () S 16 T () S 24 T () S 32 T () S 40 T () S 48 T () S 56 T (     safety_threshold\);) N
(693) # () N
(694) # (  ) S
(//LOG_DAN\(0, << "upper secure arg is " << upper_secure_arg\);) c n
(695) # () N
(696) # () S
(  test_dirs[0] = Tools::get_angle_between_null_2PI\(upper_secure_arg - delta_ang * 3.0) p n
0 T (\);) N
(697) # (  test_dirs[1] = Tools::get_angle_between_null_2PI\(upper_secure_arg - delta_ang * 2.0) N
0 T (\);) N
(698) # (  test_dirs[2] = Tools::get_angle_between_null_2PI\(upper_secure_arg - delta_ang * 4.0) N
0 T (\);) N
(699) # (  test_dirs[3] = Tools::get_angle_between_null_2PI\(upper_secure_arg - delta_ang * 1.0) N
0 T (\);) N
(700) # (  test_dirs[4] = Tools::get_angle_between_null_2PI\(upper_secure_arg - delta_ang * 5.0) N
0 T (\);) N
(701) # (  test_dirs[7] = Tools::get_angle_between_null_2PI\(upper_secure_arg\);) N
(702) # (  test_dirs[8] = Tools::get_angle_between_null_2PI\(upper_secure_arg - delta_ang * 6.0) N
0 T (\);) N
(703) # (  ) N
(704) # (  ) S
(if) K
( \(delta_ang > DEG2RAD\(4.0\)\) {) p n
(705) # (    test_dirs[5] = Tools::get_angle_between_null_2PI\(upper_secure_arg - DEG2RAD\(2.0\)\)) N
0 T (;) N
(706) # (    test_dirs[6] = Tools::get_angle_between_null_2PI\(upper_secure_arg - delta_ang * 6) N
0 T (.0 + DEG2RAD\(2.0\)\);) N
(707) # (  } ) S
(else) K
( {) p n
(708) # (    test_dirs[5] = Tools::get_angle_between_null_2PI\(upper_secure_arg - delta_ang/2.0) N
0 T (\);) N
(709) # (    test_dirs[6] = Tools::get_angle_between_null_2PI\(upper_secure_arg - delta_ang * 6) N
0 T (.0 + delta_ang/2.0\);) N
(710) # (  }) N
(711) # () N
(712) # (  Vector st;) N
(713) # (  ) S
(for) K
( \() p
(int) k
( i = 0; i < nr_of_targets; ++i\) {) p n
(714) # (    st.init_polar\(1.0, test_dirs[i]\);) N
(715) # (    st = \(1.0/st.x\) * st;) N
(716) # (    ) S
(//st /= \(st.x\); DAS IST FALSCH\(geht so nicht, siehe Implementuerung von Vector) c n
(717) # () N
(718) # () S
(    test_targets[i] = \(ServerOptions::pitch_length/2.0 - WSinfo::ball->pos.x\) * st + ) p n
0 T (WSinfo::ball->pos;) N
(719) # (  }) N
(720) # () N
(721) # (}) N
(722) # () N
(723) # () N
(724) # () S
(void) k
( Score::consider_special_cases\() p
(int) k
( goalie_age, ) p
(int) k
( goalie_vel_age, Vector goalie_) p n
0 T (vel,) N
(725) # () S 8 T () S 16 T () S 24 T () S 32 T () S 40 T () S 48 T (   Value &goalie_initial_size, Vector) N
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0 T ( &goalie_pos, ) p n
(726) # () S 8 T () S 16 T () S 24 T () S 32 T () S 40 T () S 48 T (   PPlayer goalie\) {) N
(727) # (  ) S
(if) K
( \(goalie_vel_age == 0\) {) p n
(728) # (    ) S
(//if \(goalie_vel.norm\(\) > 0.1\) {) c n
(729) # () S
(    LOG_DAN\(0, << ") p
(goalie_pos um ) str
(" << goalie_vel << ") p
(verschoben) str
("\);) p n
(730) # (    goalie_pos = goalie_pos + goalie_vel;) N
(731) # (    ) S
(//if \(goalie_initial_size >= 0.3\) goalie_initial_size -= 0.3;) c n
(732) # () S
(    ) p
(//else goalie_initial_size = 0.0;) c n
(733) # () S
(    ) p
(//}) c n
(734) # () S
(  }) p n
(735) # () N
(736) # (  ) S
(if) K
( \(fabs\(WSinfo::ball->vel.y\) > 1.0\) {) p n
(737) # (    LOG_DAN\(0, << ") S
(ball has high y-velocity, assume that goalie moves!) str
("\);) p n
(738) # (    goalie_initial_size += 0.4;) N
(739) # (  }) N
(740) # () N
(741) # () S
(#if) K
( 0 ) p
(// ridi goalshot) c n
(742) # () S
(  ) p
(if) K
( \(goalie_age <= 1\) {) p n
(743) # (    ) S
(if) K
( \(\(goalie_pos - WSinfo::me->pos\).norm\(\) < 5.0\) {) p n
(744) # (      LOG_DAN\(0, << ") S
( goalie too close, reducing size to 0) str
("\);) p n
(745) # (      goalie_initial_size = 0.0;) N
(746) # (    }) N
(747) # (  }) N
(748) # () S
(#endif) K
( ) p n
(749) # (}) N
(750) # () N
(751) # () N
(752) # () S
(int) k
( Score::select_best_kick\() p
(int) k
( *kick_possible, ) p
(int) k
( nr_of_targets\) {) p n
(753) # (  ) S
(int) k
( all_possible = 1;) p n
(754) # (  ) S
(for) K
( \() p
(int) k
( i = 0; i < nr_of_targets; ++i\) {) p n
(755) # (    ) S
(if) K
( \(kick_possible[i] == 0\) {) p n
(756) # (      all_possible = 0;) N
(757) # (      ) S
(break) K
(;) p n
(758) # (    }) N
(759) # (  }) N
(760) # (  ) S
(if) K
( \(all_possible\) ) p
(return) K
( 0;) p n
(761) # (  ) N
(762) # (  ) S
(int) k
( left_side = 0, right_side = 0;) p n
(763) # (  ) S
(for) K
( \() p
(int) k
( i = 1; i < nr_of_targets; ++i\) {) p n
(764) # (    ) S
(if) K
( \(kick_possible[i]\) {) p n
(765) # (      ) S
(if) K
( \(i%2 == 1\) ++left_side;) p n
(766) # (      ) S
(else) K
( right_side++;) p n
(767) # (    }) N
(768) # (  }) N
(769) # () N
(770) # (  ) S
(if) K
( \(left_side == right_side\) {) p n
(771) # (    ) S
(if) K
( \(WSinfo::ws->time % 2 == 0\) {) p n
(772) # (      ++right_side;) N
(773) # (    } ) S
(else) K
( {) p n
(774) # (      ++left_side;) N
(775) # (    }) N
(776) # (  }) N
(777) # () N
(778) # (  ) S
(if) K
( \(left_side > right_side\) {) p n
(779) # (    ) S
(if) K
( \(kick_possible[1] && kick_possible[3]\) ) p
(return) K
( 3;) p n
(780) # (    ) S
(if) K
( \(kick_possible[5]\) ) p
(return) K
( 5;) p n
(781) # (    ) S
(else) K
( {) p n
(782) # (      ) S
(for) K
( \() p
(int) k
( j = 0; j < nr_of_targets; ++j\) {) p n
(783) # () S 8 T () S
(if) K
( \(\(kick_possible[j]\) && \(j%2 == 1\)\) ) p
(return) K
( j;) p n
(784) # (      }) N
(785) # (    }) N
(786) # (  } ) S
(else) K
( ) p
(if) K
( \(left_side < right_side\) {) p n
(787) # (    ) S
(if) K
( \(kick_possible[2] && kick_possible[4]\) ) p
(return) K
( 4;) p n
(788) # (    ) S
(if) K
( \(kick_possible[6]\) ) p
(return) K
( 6;) p n
(789) # (    ) S
(else) K
( {) p n
(790) # (      ) S
(for) K
( \() p
(int) k
( j = 0; j < nr_of_targets; ++j\) {) p n
(791) # () S 8 T () S
(if) K
( \(\(kick_possible[j]\) && \(j%2 == 0\)\) ) p
(return) K
( j;) p n
(792) # (      }) N
(793) # (    }) N
(794) # (  }) N
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(795) # () p n
(796) # (  ) S
(return) K
( -1;) p n
(797) # (}) N
(798) # () N
(799) # (Value Score::player_action_radius_at_time\() S
(int) k
( time, PPlayer player, ) p n
(800) # () S 8 T () S 16 T () S 24 T () S 32 T () S 40 T () S 48 T () S 56 T (  Value player_dist_to_ball, ) N
(801) # () S 8 T () S 16 T () S 24 T () S 32 T () S 40 T () S 48 T () S 56 T (  ) S
(int) k
( player_handicap\) {) p n
(802) # (  ) S
(//used for learning, otherwise players try to shoot through static defenders) c n
(803) # () S
(  ) p
(return) K
( 1.1;) p n
(804) # ()