playerteams.cpp

2003年RoboCup仿真组世界冠军源代码 足球机器人 仿真组 的源代码

/*
Copyright (c) 2000-2003, Jelle Kok, University of Amsterdam
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.

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this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.

3. Neither the name of the University of Amsterdam nor the names of its
contributors may be used to endorse or promote products derived from this
software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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*/

/*! \file PlayerTeams.cpp
<pre>
<b>File:</b>          PlayerTest.cpp
<b>Project:</b>       Robocup Soccer Simulation Team: UvA Trilearn
<b>Authors:</b>       Jelle Kok
<b>Created:</b>       10/12/2000
<b>Last Revision:</b> $ID$
<b>Contents:</b>      This file contains the class definitions for the
                      Player that are used to test the teams' high level
                      strategy.
<hr size=2>
<h2><b>Changes</b></h2>
<b>Date</b>             <b>Author</b>          <b>Comment</b>
10/12/2000        Jelle Kok       Initial version created
</pre>
*/

#include "Player.h"

/*!This method is the first complete simple team and defines the actions taken
   by all the players on the field (excluding the goalie). It is based on the
   high-level actions taken by the simple team FC Portugal that it released in
   2000. The players do the following:
   - if ball is kickable
       kick ball to goal (random corner of goal)
   - else if i am fastest player to ball 
       intercept the ball
   - else
       move to strategic position based on your home position and pos ball */
SoccerCommand Player::deMeer5(  )
{

  SoccerCommand soc(CMD_ILLEGAL);
  VecPosition   posAgent = WM->getAgentGlobalPosition();
  VecPosition   posBall  = WM->getBallPos();
  int           iTmp;

  if( WM->isBeforeKickOff( ) )
  {
    if( WM->isKickOffUs( ) && WM->getPlayerNumber() == 9 ) // 9 takes kick
    {
      if( WM->isBallKickable() )
      {
        VecPosition posGoal( PITCH_LENGTH/2.0,
                             (-1 + 2*(WM->getCurrentCycle()%2)) * 
                             0.4 * SS->getGoalWidth() );
        soc = kickTo( posGoal, SS->getBallSpeedMax() ); // kick maximal
        Log.log( 100, "take kick off" );        
      }
      else
      {
        soc = intercept( false );  
        Log.log( 100, "move to ball to take kick-off" );
      }  
      ACT->putCommandInQueue( soc );
      ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      return soc;
    }  
    if( formations->getFormation() != FT_INITIAL || // not in kickoff formation
        posAgent.getDistanceTo( WM->getStrategicPosition() ) > 2.0 )  
    {
      formations->setFormation( FT_INITIAL );       // go to kick_off formation
      ACT->putCommandInQueue( soc=teleportToPos( WM->getStrategicPosition() ));
    }
    else                                            // else turn to center
    {
      ACT->putCommandInQueue( soc=turnBodyToPoint( VecPosition( 0, 0 ), 0 ) );
      ACT->putCommandInQueue( alignNeckWithBody( ) );
    }
  }
  else
  {
    formations->setFormation( FT_433_OFFENSIVE );
    soc.commandType = CMD_ILLEGAL;

    if( WM->getConfidence( OBJECT_BALL ) < PS->getBallConfThr() )
    {
      ACT->putCommandInQueue( soc = searchBall() );   // if ball pos unknown
      ACT->putCommandInQueue( alignNeckWithBody( ) ); // search for it
    }
    else if( WM->isBallKickable())                    // if kickable
    {
      VecPosition posGoal( PITCH_LENGTH/2.0,
              (-1 + 2*(WM->getCurrentCycle()%2)) * 0.4 * SS->getGoalWidth() );
      soc = kickTo( posGoal, SS->getBallSpeedMax() ); // kick maximal

      ACT->putCommandInQueue( soc );
      ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      Log.log( 100, "kick ball" );
    }
    else if( WM->getFastestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL, &iTmp )
              == WM->getAgentObjectType()  && !WM->isDeadBallThem() )
    {                                                // if fastest to ball
      Log.log( 100, "I am fastest to ball; can get there in %d cycles", iTmp );
      soc = intercept( false );                      // intercept the ball

      if( soc.commandType == CMD_DASH &&             // if stamina low
          WM->getAgentStamina().getStamina() <
             SS->getRecoverDecThr()*SS->getStaminaMax()+200 )
      {
        soc.dPower = 30.0 * WM->getAgentStamina().getRecovery(); // dash slow
        ACT->putCommandInQueue( soc );
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
      else                                           // if stamina high
      {
        ACT->putCommandInQueue( soc );               // dash as intended
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
     }
     else if( posAgent.getDistanceTo(WM->getStrategicPosition()) >
                  1.5 + fabs(posAgent.getX()-posBall.getX())/10.0)
                                                  // if not near strategic pos
     {
       if( WM->getAgentStamina().getStamina() >     // if stamina high
                            SS->getRecoverDecThr()*SS->getStaminaMax()+800 )
       {
         soc = moveToPos(WM->getStrategicPosition(),
                         PS->getPlayerWhenToTurnAngle());
         ACT->putCommandInQueue( soc );            // move to strategic pos
         ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
       }
       else                                        // else watch ball
       {
         ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
         ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
       }
     }
     else if( fabs( WM->getRelativeAngle( OBJECT_BALL ) ) > 1.0 ) // watch ball
     {
       ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
       ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
     }
     else                                         // nothing to do
       ACT->putCommandInQueue( SoccerCommand(CMD_TURNNECK,0.0) );
   }
  return soc;
}

/*!This method is a simple goalie based on the goalie of the simple Team of
   FC Portugal. It defines a rectangle in its penalty area and moves to the
   position on this rectangle where the ball intersects if you make a line
   between the ball position and the center of the goal. If the ball can
   be intercepted in the own penalty area the ball is intercepted and catched.
*/
SoccerCommand Player::deMeer5_goalie(  )
{
  int i;
  SoccerCommand soc;
  VecPosition   posAgent = WM->getAgentGlobalPosition();
  AngDeg        angBody  = WM->getAgentGlobalBodyAngle();

  // define the top and bottom position of a rectangle in which keeper moves
  static const VecPosition posLeftTop( -PITCH_LENGTH/2.0 +
               0.7*PENALTY_AREA_LENGTH, -PENALTY_AREA_WIDTH/4.0 );
  static const VecPosition posRightTop( -PITCH_LENGTH/2.0 +
               0.7*PENALTY_AREA_LENGTH, +PENALTY_AREA_WIDTH/4.0 );

  // define the borders of this rectangle using the two points.
  static Line  lineFront = Line::makeLineFromTwoPoints(posLeftTop,posRightTop);
  static Line  lineLeft  = Line::makeLineFromTwoPoints(
                         VecPosition( -50.0, posLeftTop.getY()), posLeftTop );
  static Line  lineRight = Line::makeLineFromTwoPoints(
                         VecPosition( -50.0, posRightTop.getY()),posRightTop );


  if( WM->isBeforeKickOff( ) )
  {
    if( formations->getFormation() != FT_INITIAL || // not in kickoff formation
        posAgent.getDistanceTo( WM->getStrategicPosition() ) > 2.0 )  
    {
      formations->setFormation( FT_INITIAL );       // go to kick_off formation
      ACT->putCommandInQueue( soc=teleportToPos(WM->getStrategicPosition()) );
    }
    else                                            // else turn to center
    {
      ACT->putCommandInQueue( soc = turnBodyToPoint( VecPosition( 0, 0 ), 0 ));
      ACT->putCommandInQueue( alignNeckWithBody( ) );
    }
    return soc;
  }

  if( WM->getConfidence( OBJECT_BALL ) < PS->getBallConfThr() )
  {                                                // confidence ball too  low
    ACT->putCommandInQueue( searchBall() );        // search ball
    ACT->putCommandInQueue( alignNeckWithBody( ) );
  }
  else if( WM->getPlayMode() == PM_PLAY_ON || WM->isFreeKickThem() ||
           WM->isCornerKickThem() )               
  {
    if( WM->isBallCatchable() )
    {
      ACT->putCommandInQueue( soc = catchBall() );
      ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
    }
     else if( WM->isBallKickable() )
    {
       soc = kickTo( VecPosition(0,posAgent.getY()*2.0), 2.0 );    
       ACT->putCommandInQueue( soc );
       ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
    }
    else if( WM->isInOwnPenaltyArea( getInterceptionPointBall( &i, true ) ) &&
             WM->getFastestInSetTo( OBJECT_SET_PLAYERS, OBJECT_BALL, &i ) == 
                                               WM->getAgentObjectType() )
    {
      ACT->putCommandInQueue( soc = intercept( true ) );
      ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
    }
    else
    {
      // make line between own goal and the ball
      VecPosition posMyGoal = ( WM->getSide() == SIDE_LEFT )
             ? SoccerTypes::getGlobalPositionFlag(OBJECT_GOAL_L, SIDE_LEFT )
             : SoccerTypes::getGlobalPositionFlag(OBJECT_GOAL_R, SIDE_RIGHT);
      Line lineBall = Line::makeLineFromTwoPoints( WM->getBallPos(),posMyGoal);

      // determine where your front line intersects with the line from ball
      VecPosition posIntersect = lineFront.getIntersection( lineBall );

      // outside rectangle, use line at side to get intersection
      if (posIntersect.isRightOf( posRightTop ) )
        posIntersect = lineRight.getIntersection( lineBall );
      else if (posIntersect.isLeftOf( posLeftTop )  )
        posIntersect = lineLeft.getIntersection( lineBall );

      if( posIntersect.getX() < -49.0 )
        posIntersect.setX( -49.0 );
        
      // and move to this position
      if( posIntersect.getDistanceTo( WM->getAgentGlobalPosition() ) > 0.5 )
      {
        soc = moveToPos( posIntersect, PS->getPlayerWhenToTurnAngle() );
        ACT->putCommandInQueue( soc );
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
      else
      {
        ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
    }
  }
  else if( WM->isFreeKickUs() == true || WM->isGoalKickUs() == true )
  {
    if( WM->isBallKickable() )
    {
      if( WM->getTimeSinceLastCatch() == 25 && WM->isFreeKickUs() )
      {
        // move to position with lesser opponents.
        if( WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, 
                                          Circle(posRightTop, 15.0 )) <
            WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, 
                                           Circle(posLeftTop,  15.0 )) )
          soc.makeCommand( CMD_MOVE,posRightTop.getX(),posRightTop.getY(),0.0);
        else
          soc.makeCommand( CMD_MOVE,posLeftTop.getX(), posLeftTop.getY(), 0.0);
        ACT->putCommandInQueue( soc );
      }
      else if( WM->getTimeSinceLastCatch() > 28 )
      {
        soc = kickTo( VecPosition(0,posAgent.getY()*2.0), 2.0 );    
        ACT->putCommandInQueue( soc );
      }
      else if( WM->getTimeSinceLastCatch() < 25 )
      {
        VecPosition posSide( 0.0, posAgent.getY() ); 
        if( fabs( (posSide - posAgent).getDirection() - angBody) > 10 )
        {
          soc = turnBodyToPoint( posSide );
          ACT->putCommandInQueue( soc );
        }
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
    }
    else if( WM->isGoalKickUs()  )
    {
      ACT->putCommandInQueue( soc = intercept( true ) );
      ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
    }
    else
      ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
  }
  else
  {
     ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
     ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
  }
  return soc;
}