playerteams.cpp

来自「根据 trilearn_base_sources-3.3 (一般称做UVA底层)」· C++ 代码 · 共 423 行 · 第 1/2 页

                         VecPosition( -51.5, posRightTop.getY()) );
  static Line  lineLeft  = Line::makeLineFromTwoPoints(
                         VecPosition( -51.5, posLeftTop.getY()), posLeftTop );
  static Line  lineRight = Line::makeLineFromTwoPoints(
                         VecPosition( -51.5, posRightTop.getY()),posRightTop );

  //定义两个矩形用于判断开球时哪一侧对方球员比较多
  static Rect rectLeft(VecPosition(-35,-5),VecPosition(-20,-20));
  static Rect rectRight(VecPosition(-35,20),VecPosition(-20,5));

  //开球之后
  if( !WM->isBeforeKickOff( ) )
  {
    //足球位置的可信度过低，去寻找球的位置
    if( WM->getConfidence( OBJECT_BALL ) < PS->getBallConfThr() )
    {                                                // confidence ball too  low
      ACT->putCommandInQueue( SoccerCommand( CMD_CHANGEVIEW, VA_WIDE, VQ_HIGH ) );
      ACT->putCommandInQueue( searchBall() );        // search ball
      ACT->putCommandInQueue( alignNeckWithBody( ) );
    }
    //如果比赛的模式是正在比赛中，或者是对方的几种可能靠近我方球门的死球
    else if( WM->getPlayMode() == PM_PLAY_ON || WM->isFreeKickThem() ||WM->isFreeKickFaultUs()
          || WM->isCornerKickThem() || WM->isBackPassUs()  )
    {
      //根据周期的不同连续更换视觉状态
      if( cycle % 2 == 0 )
      { ACT->putCommandInQueue( SoccerCommand( CMD_CHANGEVIEW, VA_NORMAL, VQ_HIGH ) ); }
      else
      { ACT->putCommandInQueue( SoccerCommand( CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH ) ); }
      //判断现在是谁正在控球
      who_control=WM->whoControlBall(&distUs,&distThem);
      //如果和last_control不同并且不是一个无效值，需要更新last_control
      if( who_control!=last_control && who_control!= CONTROL_ILLEGAL &&
          who_control!=CONTROL_NONE )//&& who_control!= CONTROL_UNKNOW )
      { last_control=who_control; }
      //可以扑到球的话，而且不是我方球员的回传球
      if( WM->isBallCatchable() && last_control!=CONTROL_US )
      {
        //cout<<"Goalie:catch ball!"<<endl;
        ACT->putCommandInQueue( soc = catchBall() );
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
      //如果球是可以踢到的
      else if( WM->isBallKickable() )
      {
        //cout<<"Goalie:kick ball!"<<endl;
        //将球踢向中场的两侧
        soc = kickTo( VecPosition(0,sign(posAgent.getY())*PITCH_W_HALF), 3.0 );
        ACT->putCommandInQueue( soc );
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
      //在球正飞向我们的球门时
      else if( WM->isBallHeadingToGoal() )
      {
        cout<<cycle<<":warning!Ball is heading to goal!"<<endl;
        //截住飞向球门的球
        soc = interceptScoringAttempt( );
        ACT->putCommandInQueue( soc );
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
      //在截球点我们的禁区内，并且守门员是可以最快截球的队员(含对方球员)
      else if( WM->isInOwnPenaltyArea(getInterceptionPointBall( &i, true )) &&
               WM->getFastestInSetTo( OBJECT_SET_PLAYERS, OBJECT_BALL, &i ) == 
                                                WM->getAgentObjectType() )
      {
        //cout<<"Goalie:intercept the ball!"<<endl;
        ACT->putCommandInQueue( soc = intercept( true ) );
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
      //在产生单刀情况时
      else if(WM->isDanDao(&posUs,&posThem))
      {
        cout<<cycle<<":warning!There is a DanDao!"<<endl;
        //紧急截球
        soc = intercept( true );
        ACT->putCommandInQueue( soc );
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
      //在球已经距离我方球门很远时
      else if(posBall.getX()>-25)
      {
        VecPosition pos( -49.5, 0 );
        //如果距离本位点过远，需要跑动
        if( posAgent.getDistanceTo( pos ) > 1.0 )
        {
          soc = moveToPos( pos, PS->getPlayerWhenToTurnAngle() );
          //保存体力
          if( soc.commandType == CMD_DASH )
          {
            if( WM->getAgentStamina().getStamina()<3000 )
            {
              soc.dPower = 30.0*WM->getAgentStamina().getRecovery();
            }
            else if( WM->getAgentStamina().getStamina()<2000 && dist<5 )
            {
              soc.dPower = 10.0*WM->getAgentStamina().getRecovery();
            }
          }
        }
        //否则转向足球就可以了
        else
        {
          soc = turnBodyToObject( OBJECT_BALL );
        }
        ACT->putCommandInQueue( soc );
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
      //其它情况(就是说球不是处于上面所说的特殊状况，而且也不是距离球门很远)
      else
      {
        //在球门线上防守
        if( posBall.getX()< posAgent.getX() )
        { soc = defendGoalLine( 52.5 - fabs( posBall.getX() ) ); }
        else
        { soc = defendGoalLine( 3.0 ); }
        ACT->putCommandInQueue( soc );
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
    }
    //如果是我们的任意球或者门球
    else if( WM->isFreeKickUs() == true || WM->isGoalKickUs() ==true )
    {
      //已经可以踢球了
      if( WM->isBallKickable() )
      {
        //如果是在拿到球20个周期了
        if( WM->getTimeSinceLastCatch() == 20 && WM->isFreeKickUs() )
        {
          //移动到对方球员更少的一边
          if( WM->getNrInSetInRectangle(OBJECT_SET_OPPONENTS,&rectLeft) <
              WM->getNrInSetInRectangle(OBJECT_SET_OPPONENTS,&rectRight) )
          { soc = teleportToPos(posLeftTop); }
          else
          { soc = teleportToPos(posRightTop); }
          //命令入队列
          ACT->putCommandInQueue( soc );
        }
        //已经大于35周期了，发球
        else if( WM->getTimeSinceLastCatch() > 35 )
        {
          soc = kickTo( VecPosition(0,sign(posAgent.getY())*PITCH_W_HALF), 3.0 );
          ACT->putCommandInQueue( soc );
        }
        //30个周期以内的时候
        else if( WM->getTimeSinceLastCatch() < 30 )
        {
          VecPosition posSide( 0.0, posAgent.getY() ); 
          if( fabs( (posSide - posAgent).getDirection() - angBody) > 10 )
          {
            soc = turnBodyToPoint( posSide );
            ACT->putCommandInQueue( soc );
          }
          ACT->putCommandInQueue( lookAround( 45.0,soc ) );
        }
      }
      //是门球的话首先需要跑向发球点
      else if( WM->isGoalKickUs() )
      {
        //跑向发球点
        soc = intercept( true ) ;
        //保存体力
        if(soc.commandType == CMD_DASH)
        {
          if( WM->getAgentStamina().getStamina()<3000 )
          {
            soc.dPower=30.0*WM->getAgentStamina().getRecovery();
          }
          else if( WM->getAgentStamina().getStamina()<2000 && dist<5 )
          {
            soc.dPower=0.0*WM->getAgentStamina().getRecovery();
          }
        }
        //命令入队列
        ACT->putCommandInQueue( soc );
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
      //否则转向球看就可以了
      else
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
    }
    else
    {
      ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
      ACT->putCommandInQueue( lookAround( 45.0,soc ) );
    }
  }
  //开球之前
  else
  {
    //阵形不是默认开球阵形的话，更改阵形
    if( formations->getFormation() != FT_BlueSky_INIT )
    {
      formations->setFormation( FT_BlueSky_INIT );
    }
    //距离本位点过远的情况下，将球员直接移动到本位点
    if( posAgent.getDistanceTo( WM->getStrategicPosition() ) > 2.0 )
    {
      ACT->putCommandInQueue( soc=teleportToPos( WM->getStrategicPosition() ));
    }
    //否则的话转向球场正中央
    else
    {
      ACT->putCommandInQueue( soc = turnBodyToPoint( VecPosition( 0, 0 ), 0 ));
      ACT->putCommandInQueue( lookAround( 45.0,soc ) );
    }
  }
  return soc;
}