decision.cpp

本程序是2005年参加中国机器人大赛的比赛程序

{//先不用
	int k=0;
	double t=10000;
	for(int i=0; i<4; i++)
	{
		if(i!=Num[0])
		{
			Vector d=Vector(ball.Get_vPos().x-g_MyTeam[i].Get_vPos().x,ball.Get_vPos().y-g_MyTeam[i].Get_vPos().y);
			if(d.mod()<t)
			{
				t=d.mod();
				k=i;
			}
		}
	}
	Num[1]=k;//将第二个机器人的标号放在Num[1]中
}

void CDecision::ChooseThird(Ball ball)//防守为最靠后的机器人
{//先不用
	int k=0;
	double t=10000;
	for(int i=0; i<4; i++)
	{
		if( (i!=Num[0])&& (i!=Num[1]) && (g_MyTeam[i].Get_vPos().x<t) )
		{
			t=g_MyTeam[i].Get_vPos().x;
			k=i;
		}
	}
	Num[2]=k;
}

void CDecision::ChooseFouth()//剩下的即为自由人或者防守队员
{//先不用
	int k=0;
	for(int i=0;i<4; i++)
	{
		if( (i!=Num[0])&&(i!=Num[1])&&(i!=Num[2]))		k=i;
	}
	Num[3]=k;
}
//主攻者（主防者）运动点永远对着球

void CDecision::IntegratedAction(Player &player)
{
	int n;
	ChooseDots(player);
//	if(JudgeRole(player)==ATTACK)//如果为进攻型则用进攻权值计算
//	{
		n=ComputeIndex1(player);
//	}
//	else//防守时的点的权值计算
//	{
//		n=ComputeIndex2(player);
//	}
	player.SimpleAction(n);
}

void CDecision::ChooseNorDots(Player &player, Vector des)
{//一般运动的选点情况，根据目标点来选择，此时不需要考虑正向处理等等
	Vector r=des-player.Get_vPos();
	if(r.mod()>200)
	{
		this->Radius=150;
	}
	if( (r.mod()>100)  && (r.mod()<=200) )
	{	
		this->Radius=100;
	}
	if(r.mod()<=100)
	{
		this->Radius=r.mod();
	}
	double x=0;
	double y=0;
	for(int i=0; i<NUM; i++)
	{
		x=player.Get_vPos().x+Radius*cos( (player.Get_m_Angle()-i*(360/NUM))*(pi/180));
		y=player.Get_vPos().y+Radius*sin( (player.Get_m_Angle()-i*(360/NUM))*(pi/180));
		Dot[i]=Vector(x,y);
	}
}

int CDecision::ComputeNorIndex(Player &player, Vector des)
{	//一般性的跑位的选点并且返回对应的动作编号
	Vector r=Vector(des.x-player.Get_vPos().x,des.y-player.Get_vPos().y);
	Vector r1=Vector(player.Get_vPos().x-des.x,player.Get_vPos().y-des.y);
	int k=0;
	
	double bound[NUM];
	double obstacle[NUM];
	double dis[NUM];
	
	if( (des.x>player.Get_vPos().x) && (r.mod()<40 ) )
	{
		return 15;
	}
	if( (fabs(r.GetAngle()-player.Get_m_Angle())<50 )&& (player.HaveObstacleBall(des)==FALSE ) )
	{
		return 0;
	}
	if( (fabs(r1.GetAngle()-player.Get_m_Angle())<50)&&(player.HaveObstacleBall(des)==FALSE ))
	{
		return 6;
	}

	for(int i=0; i<NUM; i++)
	{
		if( (Dot[i].x>TOP)||(Dot[i].x<BOTTOM)||(Dot[i].y<RIGHT)||(Dot[i].y>LEFT) )
		bound[i]=0;
		else 
		bound[i]=1;
	}
	for( i=0; i<NUM; i++)
	{
		if(player.HaveObstacleBall(Dot[i])==TRUE )
		{
			obstacle[i]=0;
		}
		else
		{
			obstacle[i]=1;
		}
	}
	for(i=0; i<NUM; i++)
	{
		Vector d=Vector(des.x-Dot[i].x, des.y-Dot[i].y);
		dis[i]=1-(d.mod()/(Radius+r.mod()));
	}
	for(i=0; i<NUM;i++)
	{
		index[i]=bound[i]*obstacle[i]*dis[i];
	}
	double t=0;
	for(i=0; i<NUM; i++)
	{
		if(index[i]>t)
		{
			t=index[i];
			k=i;
		}
	}
	return k;
}

void CDecision::NorIntegratedAction(Player &player, Vector des)
{
	int n;
	ChooseNorDots(player,des);
	n=ComputeNorIndex(player,des);
	player.SimpleAction(n);
}


//下为下半场的函数程序
int CDecision::JudgeRoleSecondHalf(Player &player)
{
	if( player.Get_vPos().x<g_Ball.Get_vPos().x)
	{
		return DEFFENSE;
	}
	return ATTACK;
}

void CDecision::IntegratedActionSecondHalf(Player &player)//对球运动的动作的集成
{
	int n;
	ChooseDotsSecondHalf(player);
	if(JudgeRoleSecondHalf(player)==ATTACK)//如果为进攻型则用进攻权值计算
	{
		n=ComputeIndex1(player);
	}
	else//防守时的点的权值计算
	{
		n=ComputeIndex2(player);
	}
	player.SimpleAction(n);
}

void CDecision::ChooseDotsSecondHalf(Player &player)
{
	Vector r=g_Ball.Get_vPos()-player.Get_vPos();
	if(JudgeRoleSecondHalf(player)==ATTACK)//进攻时的选点半径
	{
		if(r.mod()>200)
		{
			this->Radius=150;
		}
		if( (r.mod()>100)  && (r.mod()<=200) )
		{	
			this->Radius=100;
		}
		if(r.mod()<=100)
		{
			this->Radius=r.mod();
		}
	}
	else//防守时（在球的前方）的选点半径
	{
		if(r.mod()>200)
		{
			this->Radius=150;
		}
		if( (r.mod()>100)  && (r.mod()<=200) )
		{	
			this->Radius=100;
		}
		if(r.mod()<=100)
		{
			this->Radius=r.mod();
		}
		if(r.mod()<JUDGEDIST)
		{
			this->Radius=2*r.mod();
		}
	}
	double x=0;
	double y=0;
	for(int i=0; i<NUM; i++)
	{
	
		x=player.Get_vPos().x+Radius*cos( (player.Get_m_Angle()-i*(360/NUM))*(pi/180));
		y=player.Get_vPos().y+Radius*sin( (player.Get_m_Angle()-i*(360/NUM))*(pi/180));
		Dot[i]=Vector(x,y);
	}
}

/*
void CDecision::AllLeaveTheBall()
{
	Vector pt[10],d;
	int p[10],n,i;
	double t=10000.1,x,y;
	int k=0;
	Vector	d2;
	for(i=0; i<5; i++)
	{
		d=g_MyTeam[i].Get_vPos()-g_Ball.Get_vPos();
		for(n=0; n<10; n++ )
		{
			x=g_Ball.Get_vPos().x+100*cos( d.GetAngle()-n*(pi/180) );//100为选择半径
			y=g_Ball.Get_vPos().y+100*sin( d.GetAngle()-n*(pi/180) );
			if( (x>TOP)||(x<BOTTOM)||(y<RIGHT)||(y>LEFT) )
			p[n]=0;
			else 
			{
				p[n]=1;
				pt[n]=Vector(x,y);
			}
		}
		if(	d.mod()<STDDISTANT )//如果本方中的一些机器人没有达到要求则运动到最近的供选择的点
		{
			for( n=0; n<10; n++)
			{		
				d2=pt[n]-g_MyTeam[i].Get_vPos();
				if( (p[n]==1) && ( d2.mod()<t ) )//选出距离最近的有效点然后运动到该点
				{
					t=d2.mod();
					k=n;
				}
			}		
			NorIntegratedAction(g_MyTeam[i],pt[k]);
			return ;
		}
		else
		{
			g_MyTeam[i].BasicAct(0,0,0,0);
			return ;
		}
	}
}
*/
void CDecision::GoalieMove(Player &player)
{	//机器人应该正向向左放置
	//一般来说，目标点都在门前的直线上，但是是否需要转圈是由球的位置而定
	//如果偏角不是很大则直接横着走
	Vector dis=g_Ball.Get_vPos()-player.Get_vPos();
	Vector dest=player.Get_vPos()-g_Ball.Get_vPos();
	if(g_Ball.Get_vPos().x>GOALIEDIST)
	{
		player.BasicAct(0,0,0,0);
		return;
	}
	else
	{
		Vector m_GoaliePoint=player.ChooseGoalieP(g_Ball);
		NorIntegratedAction(player,m_GoaliePoint);
		return;
	}
}


void CDecision::LShooter(Player &player)
{
	if( g_Ball.m_vPos.x<MIDDLEPOINTX )
	{
		player.BasicAct(0,0,0,0);
		return;
	}
	else
	{
		if( g_Ball.m_vPos.y < MIDDLEPOINTY )
		{
			player.BasicAct( 0, 0, 0, 0 );
			return;
		}
		else
		{
			IntegratedAction(player);			
			return;
		}
	}
}

void CDecision::RShooter(Player &player)
{
	if( g_Ball.Get_vPos().x > MIDDLEPOINTX )
	{
		player.BasicAct(0,0,0,0);
		return;
	}
	else
	{
		if( g_Ball.m_vPos.y > MIDDLEPOINTY )
		{
			player.BasicAct( 0, 0, 0, 0 );
			return;
		}
		else
		{
			IntegratedAction(player);
			return;
		}
	}
}

void CDecision::LShooterSecondHalf(Player &player)//左前锋
{
	if( g_Ball.Get_vPos().x>MIDDLEPOINTX )
	{
		player.BasicAct(0,0,0,0);
	}
	else
	{
		if( (g_Ball.Get_vPos().x>OPPONENTGOALIEX) && (g_Ball.Get_vPos().y<FORBIDDENLY) &&(g_Ball.Get_vPos().y>FORBIDDENRY) )
		{
			Vector d(g_Ball.Get_vPos().x-40,g_Ball.Get_vPos().y);
			NorIntegratedAction(player,d);			
		}
		else
		{
			IntegratedActionSecondHalf(player);			
		}
	}
}

void CDecision::RShooterSecondHalf(Player &player)//右前锋
{
	if( (g_Ball.Get_vPos().x>OPPONENTGOALIEX) && (g_Ball.Get_vPos().y<FORBIDDENLY) &&(g_Ball.Get_vPos().y>FORBIDDENRY) )
	{
		Vector d(g_Ball.Get_vPos().x-40,g_Ball.Get_vPos().y+20);
		NorIntegratedAction(player,d);			
	}
	else
	{
		IntegratedActionSecondHalf(player);	
	}
}

void CDecision::FDefense(Player &player)
{
	if(g_Ball.Get_vPos().x>MIDDLEPOINTX)//球在所定义的后防线以上时，让机器人随时对者球与球门的连线
	{
//		Vector FDdest=player.ChooseDP1(g_Ball);
//		NorIntegratedAction(player,FDdest);
		player.BasicAct( 0, 0, 0, 0 );
		return;
	}
	else
	{
		IntegratedAction(player);
		return;
	}
}

void CDecision::SDefense(Player &player)
{
	Vector distant=g_Ball.Get_vPos()-m_MyGoal;
	if(g_Ball.Get_vPos().x>SDEFFENSEX)//球在后防线以上时，让机器人随时对者球与球门的连线
	{
		Vector SDdest=player.ChooseDP2(g_Ball);
		NorIntegratedAction(player,SDdest);
		return;
	}
	else
	{
		IntegratedAction(player);
		return;
	}
}

void CDecision::FDefenseSecondHalf(Player &player)
{
	if(g_Ball.Get_vPos().x<AX)//球在所定义的后防线以上时，让机器人随时对者球与球门的连线
	{
		Vector FDdest=player.ChooseDP2SecondHalf(g_Ball);
		NorIntegratedAction(player,FDdest);
	}
	else
	{
		IntegratedActionSecondHalf(player);
	}
}

void CDecision::SDefenseSecondHalf(Player &player)
{

	Vector distant=g_Ball.Get_vPos()-m_OpponentGoal;
	if(g_Ball.Get_vPos().x<OPPONENTDIFFENSEX)//球在后防线以上时，让机器人随时对者球与球门的连线
	{
		Vector SDdest=player.ChooseDP1SecondHalf(g_Ball);
		NorIntegratedAction(player,SDdest);
	}
	else
	{
		if( (g_Ball.Get_vPos().x>OPPONENTGOALIEX) && (g_Ball.Get_vPos().y<FORBIDDENLY) &&(g_Ball.Get_vPos().y>FORBIDDENRY) )
		{
			Vector d(g_Ball.Get_vPos().x-40,g_Ball.Get_vPos().y-40);
			NorIntegratedAction(player,d);			
		}
		else
		{
			IntegratedActionSecondHalf(player);
		}
	}
}

void CDecision::GoalieMoveSecondHalf(Player &player)
{
	Vector dis=g_Ball.Get_vPos()-player.Get_vPos();
	Vector dest=player.Get_vPos()-g_Ball.Get_vPos();
	if(g_Ball.Get_vPos().x<AX)
	{
		player.BasicAct(0,0,0,0);
		return;
	}
	else
	{
		if( (g_Ball.Get_vPos().x>OPPONENTGOALIEX) && (g_Ball.Get_vPos().y<FORBIDDENLY) &&(g_Ball.Get_vPos().y>FORBIDDENRY) )
		{
			player.BasicAct(0,0,0,0);
		}
		else
		{
			Vector m_GoaliePoint=player.ChooseGoaliePSecondHalf(g_Ball);
			NorIntegratedAction(player,m_GoaliePoint);
		}
	}
}

void CDecision::IntegratedAction2(Player &player)
{
	if(player.Get_vPos().x>g_Ball.Get_vPos().x)
	{
		Vector des=Vector(g_Ball.Get_vPos().x-80,g_Ball.Get_vPos().y);
		NorIntegratedAction(player,des);
	}
	else
	{
		Vector bandr=player.Get_vPos()-g_Ball.Get_vPos();
		Vector randb=g_Ball.Get_vPos()-player.Get_vPos();
		if( (fabs(bandr.GetAngle()-player.Get_m_Angle())<45) &&(fabs(player.Get_m_Angle()-randb.GetAngle())<45)  )
		{
			IntegratedAction(player);
			return;
		}
		else
		{
			player.TurnTo(g_Ball.Get_vPos());
			return;
		}
	}
}

void CDecision::Boundary(Player &player)
{//在门前边界处理要根据本方和对方采用不同的边界值，本方大，减少乌龙球概率，对方小，增加进门概率，
 //	比赛需要当时测试设置变化值。
	CRect field=Player::FieldStruct.m_Field;
//	CRect door=CVideoDlg::my_Door;
//	CString str;
//	str.Format("%d,%d,%d,%d",field.Width(),field.Height(),player.Get_vPos().x, player.Get_vPos().y );
//	AfxMessageBox(str);
	int x=player.Get_vPos().x;
	int y=player.Get_vPos().y;
	double angle=player.Get_m_Angle();
	int limit=30;// 实际测试
	isboundary=0;
	int doory=int(0.5*abs(Player::FieldStruct.m_Field.Width())); 
	if(abs(field.Height())-y<=limit && x>=limit && x<=abs(field.Width())-limit)
	{
		if(angle>=20 && angle<=160)
		{
			player.slxSimpleAction(-100,-100,250);
		}
		else if(angle>=-160 && angle<=-20)
		{
			player.slxSimpleAction(100,100,250);

		}
		else if (angle>=0 && angle<=20)
		{
			player.slxSimpleAction(-100,-80,250);

		}
		else if (angle>=160 && angle<=180)
		{
			player.slxSimpleAction(-80,-100,250);