player.c

机器足球2D比赛程序 对trlen_base_2002的改进

		} else if (area == 4 || area == 5) {
			if (canThroughPass(posThroughPass, speedThroughPass)) {
				soc = directPass(posThroughPass, PASS_FAST);
				Log.logWithTime(777, " pass to tmt(%d)",
						SoccerTypes::getIndex(tmtPass) + 1);
			} else {
				soc = clearBall(CLEAR_BALL_GOAL, sideType);
				Log.logWithTime(777, " clear goal ");
			}
		} else {
			soc = shoot(posShoot);
			Log.logWithTime(777, " last shoot with the p (%f)", shootP);
		}
	} else if (WM->
			getFastestInSetTo(OBJECT_SET_TEAMMATES, OBJECT_BALL, &iTmp)
			== WM->getAgentObjectType() && !WM->isDeadBallThem()) {	// if fastest to ball
		soc = intercept(false);	// intercept the ball
		soc = adjustDashPowerForStamina(soc, ACT_INTERCEPT);
	} else
		soc = markOpponent(posStrat);

	return soc;
}


/*! 中场的决策。
 *
 */
SoccerCommand Player::midfielderStrategy()
{
	SoccerCommand soc(CMD_ILLEGAL);

	// for goal
	VecPosition posGoal(52.5, 0);

	//for me
	VecPosition posAgent = WM->getAgentGlobalPosition();
	VecPosition posStrat = WM->getMyStrategicPosition();
	double myX = posAgent.getX();
	double myY = posAgent.getY();
	int area = WM->getPosArea(posAgent);	//自己所在的区域。
	SideT sideType = WM->getSide();
	AngDeg angBody = WM->getAgentGlobalBodyAngle();
	AngDeg angBody2Goal =
		VecPosition::normalizeAngle((posGoal - posAgent).getDirection() -
				angBody);
	int numOpp4 = WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,
			Circle(posAgent, 4.0));

	// for ball
	VecPosition posBall = WM->getBallPos();
	double spBall = WM->getBallSpeed();

	// for shoot
	VecPosition posShoot(PITCH_LENGTH / 2.0,
			(-1 +
			 2 * (WM->getCurrentCycle() % 2)) * 0.4 *
			SS->getGoalWidth());

	// for pass
	ObjectT tmtPass = OBJECT_ILLEGAL;
	VecPosition posPass;
	AngDeg angPass = 0;
	double speedPass = 2.0;

	// for through pass
	ObjectT tmtThroughPass = OBJECT_ILLEGAL;
	VecPosition posThroughPass(52.5, 0);
	AngDeg angThroughPass = 0;
	double speedThroughPass = 2.0;

	// for dribble
	AngDeg angDribble = 0;

	// for intercept
	int iTmp;

	formationDecision();	//确定比赛阵型。
	if (WM->getConfidence(OBJECT_BALL) < PS->getBallConfThr()) {
		soc = searchBall();	// if ball pos unknown
	} else if (WM->isBallKickable()) {	// if kickable

		double shootP = WM->getAgentShootProbability(posShoot);

		if (shootP >= 0.9) {
			soc = shoot(posShoot);
			Log.logWithTime(777, " shoot with the p (%f)", shootP);
			return soc;
		} else if (fabs(angBody2Goal) > 90 && numOpp4 == 0) {
			if (spBall < 1.7) {
				soc =
					turnWithBallTo(0, PS->getTurnWithBallAngThr(),
							PS->getTurnWithBallFreezeThr());
				Log.logWithTime(777, " turn with ball");
			} else {
				soc = freezeBall();
				Log.logWithTime(777, " freeze ball");
			}
		} else if (isPlayOn && WM->canDribble(angDribble, DRIBBLE_FAST)) {
			soc = dribble(angDribble, DRIBBLE_FAST);
			Log.logWithTime(777, " dribble fast ");
		} else if (canThroughPass(tmtThroughPass, posThroughPass)) {
			soc = throughPass(tmtThroughPass, posThroughPass);
			Log.logWithTime(777, "through pass");
		} else if (WM->canSmartPassBallToTmt(tmtPass, angPass, speedPass)) {
			soc = smartPassBallToTmt(tmtPass, angPass, speedPass);
			Log.logWithTime(777, " pass to tmt(%d)",
					SoccerTypes::getIndex(tmtPass) + 1);
		} else if (isPlayOn && WM->canDribble(angDribble, DRIBBLE_SLOW)) {
			soc = dribble(angDribble, DRIBBLE_SLOW);
			Log.logWithTime(777, " dribble slow ");
		} else if (isPlayOn
				&& WM->canDribble(angDribble, DRIBBLE_WITHBALL)) {
			soc = dribble(angDribble, DRIBBLE_WITHBALL);
			Log.logWithTime(777, " dribble with ball ");
		} else if (area == 1) {
			soc = clearBall(CLEAR_BALL_DEFENSIVE, sideType);
			Log.logWithTime(777, " clear defensive ");
		} else if (area == 2) {
			soc = clearBall(CLEAR_BALL_OFFENSIVE_SIDE, sideType);
			Log.logWithTime(777, " clear offensive ");
		} else if (area == 3) {
			soc = clearBall(CLEAR_BALL_OFFENSIVE, sideType);
			Log.logWithTime(777, " clear offensive side ");
		} else if (area == 4 || area == 5) {
			if (canThroughPass(posThroughPass, speedThroughPass)) {
				soc = directPass(posThroughPass, PASS_FAST);
				Log.logWithTime(777, " pass to tmt(%d)",
						SoccerTypes::getIndex(tmtPass) + 1);
			} else {
				soc = clearBall(CLEAR_BALL_GOAL, sideType);
				Log.logWithTime(777, " clear goal ");
			}
		} else {
			soc = shoot(posShoot);
			Log.logWithTime(777, " last shoot with the p (%f)", shootP);
		}
	} else if (WM->
			getFastestInSetTo(OBJECT_SET_TEAMMATES, OBJECT_BALL, &iTmp)
			== WM->getAgentObjectType() && !WM->isDeadBallThem()) {	// if fastest to ball
		soc = intercept(false);	// intercept the ball
		soc = adjustDashPowerForStamina(soc, ACT_INTERCEPT);
	} else {
		//if (WM->isBallInOurPossesion())
		//	soc = remarkOpponent(posStrat);
		//else
		soc = remarkOpponent(posStrat);
	}

	return soc;
}

/*! 前锋的决策。
 *
 */
SoccerCommand Player::attackerStrategy()
{
	SoccerCommand soc(CMD_ILLEGAL);

	// for goal
	VecPosition posGoal(52.5, 0);

	//for me
	VecPosition posAgent = WM->getAgentGlobalPosition();
	VecPosition posStrat = WM->getMyStrategicPosition();
	double myX = posAgent.getX();
	double myY = posAgent.getY();
	int area = WM->getPosArea(posAgent);	//自己所在的区域。
	SideT sideType = WM->getSide();
	AngDeg angBody = WM->getAgentGlobalBodyAngle();
	AngDeg angBody2Goal =
		VecPosition::normalizeAngle((posGoal - posAgent).getDirection() -
				angBody);
	int numOpp4 = WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,
			Circle(posAgent, 4.0));

	// for ball
	VecPosition posBall = WM->getBallPos();
	double spBall = WM->getBallSpeed();

	// for shoot
	VecPosition posShoot(PITCH_LENGTH / 2.0,
			(-1 +
			 2 * (WM->getCurrentCycle() % 2)) * 0.4 *
			SS->getGoalWidth());

	// for pass
	ObjectT tmtPass = OBJECT_ILLEGAL;
	VecPosition posPass;
	AngDeg angPass = 0;
	double speedPass = 2.0;

	// for through pass
	ObjectT tmtThroughPass = OBJECT_ILLEGAL;
	VecPosition posThroughPass(52.5, 0);
	double speedThroughPass = 1.9;

	// for dribble;
	AngDeg angDribble = 0;

	// for intercept
	int iTmp;

	// for clear forward
	VecPosition posCorner(52.5, sign(myY) * 34);
	AngDeg angToCorner = (posCorner - posAgent).getDirection();
	VecPosition posClearF = posBall + VecPosition(15, angToCorner, POLAR);
	double speedClearF = 1.0;


	formationDecision();	//确定比赛阵型。

	if (WM->getConfidence(OBJECT_BALL) < PS->getBallConfThr()) {
		soc = searchBall();	// if ball pos unknown
	}

	else if (WM->isBallKickable()) {	// if kickable


		//------------------------------------------------------//
		double shootP = WM->getAgentShootProbability(posShoot);
		if (shootP >= 0.9) {
			soc = shoot(posShoot);
			Log.logWithTime(777, " shoot with the p (%f)", shootP);
			//cout << endl << "shoot   " << shootP * 100;
			return soc;
		} else if (canThroughPass(tmtThroughPass, posThroughPass)) {
			soc = throughPass(tmtThroughPass, posThroughPass);
			Log.logWithTime(777, "through pass");
		} else if (fabs(angBody2Goal) > 90 && numOpp4 == 0) {
			if (spBall < 1.7) {
				soc =
					turnWithBallTo(0, PS->getTurnWithBallAngThr(),
							PS->getTurnWithBallFreezeThr());
				Log.logWithTime(777, " turn with ball");
			} else {
				soc = freezeBall();
				Log.logWithTime(777, " freeze ball");
			}
		} else if (canClearForward(posClearF, speedClearF)) {
			soc = kickTo(posClearF, speedClearF);
		} else if (isPlayOn && WM->canDribble(angDribble, DRIBBLE_FAST)) {
			soc = dribble(angDribble, DRIBBLE_FAST);
			Log.logWithTime(777, " dribble fast ");
		} else if (isPlayOn && WM->canDribble(angDribble, DRIBBLE_SLOW)) {
			soc = dribble(angDribble, DRIBBLE_SLOW);
			Log.logWithTime(777, " dribble slow ");
		} else if (WM->canSmartPassBallToTmt(tmtPass, angPass, speedPass)) {
			soc = smartPassBallToTmt(tmtPass, angPass, speedPass);
			Log.logWithTime(777, " pass to tmt(%d)",
					SoccerTypes::getIndex(tmtPass) + 1);
		} else if (isPlayOn
				&& WM->canDribble(angDribble, DRIBBLE_WITHBALL)) {
			soc = dribble(angDribble, DRIBBLE_WITHBALL);
			Log.logWithTime(777, " dribble with ball ");
		} else if (area == 1) {
			soc = clearBall(CLEAR_BALL_DEFENSIVE, sideType);
			Log.logWithTime(777, " clear defensive ");
		} else if (area == 2) {
			soc = clearBall(CLEAR_BALL_OFFENSIVE_SIDE, sideType);
			Log.logWithTime(777, " clear offensive ");
		} else if (area == 3) {
			soc = clearBall(CLEAR_BALL_OFFENSIVE, sideType);
			Log.logWithTime(777, " clear offensive side ");
		} else if (area == 4 || area == 5) {
			if (canThroughPass(posThroughPass, speedThroughPass)) {
				soc = directPass(posThroughPass, PASS_FAST);
			} else {
				soc = clearBall(CLEAR_BALL_GOAL, sideType);
				Log.logWithTime(777, " clear goal ");
			}
		} else {
			soc = shoot(posShoot);
			Log.logWithTime(777, " last shoot with the p (%f)", shootP);
		}
	} else if (WM->
			getFastestInSetTo(OBJECT_SET_TEAMMATES, OBJECT_BALL, &iTmp)
			== WM->getAgentObjectType() && !WM->isDeadBallThem()) {	// if fastest to ball
		soc = intercept(false);	// intercept the ball
		soc = adjustDashPowerForStamina(soc, ACT_INTERCEPT);
	} else{
		soc = remarkOpponent(posStrat);
		//soc = markOpponent(posStrat);
	}

	return soc;
}



/*! 
 * 
 */
bool Player::canThroughPass(VecPosition & pos, double &speed)
{
	VecPosition posAgent = WM->getAgentGlobalPosition();
	double myX = posAgent.getX();
	double myY = posAgent.getY();
	VecPosition posBall = WM->getBallPos();

	//if (myX<30)
	if (WM->getPosArea(posAgent) < 5)
		return false;

	Line line1 =
		Line::makeLineFromPositionAndAngle(VecPosition(36, -20), 0);

	AngDeg angL, angR, angMax;
	if (myY > 0) {
		angL = (VecPosition(36, -20) - posBall).getDirection();
		angR = (VecPosition(52.5, -20) - posBall).getDirection();
		line1 =
			Line::makeLineFromPositionAndAngle(VecPosition(36, -20), 0);
	} else {
		angL = (VecPosition(52.5, 20) - posBall).getDirection();
		angR = (VecPosition(36, 20) - posBall).getDirection();
		line1 = Line::makeLineFromPositionAndAngle(VecPosition(36, 20), 0);
	}
	double dist = posAgent.getDistanceTo(VecPosition(52.5, 0));


	AngDeg ang =
		WM->getDirectionOfWidestAngle(posBall, angL, angR, &angMax, dist);

	Line line2 = Line::makeLineFromPositionAndAngle(posBall, ang);
	pos = line2.getIntersection(line1);


	if (fabs(myY) > 10)
		speed = 1.9;
	else
		speed = 1.7;

	if (angMax > 10)
		return true;
	else
		return false;


}

/*! 
 * 
 */
bool Player::canThroughPass(ObjectT & tmt, VecPosition & pos)
{


	//return false;


	VecPosition posAgent = WM->getAgentGlobalPosition();
	double myX = posAgent.getX();
	double myY = posAgent.getY();
	VecPosition posBall = WM->getBallPos();
	int n = WM->getPlayerNumber();


	if (myX < 0)
		return false;

	double dConfThr = PS->getPlayerConfThr();
	int iIndex;
	ObjectSetT setTmt = OBJECT_SET_TEAMMATES;
	VecPosition posTmt(0, 0), posEnd(52.5, 0);

	AngDeg angTmp, angMax = -1000;

	//找到一个最好的接球者。
	for (ObjectT o = WM->iterateObjectStart(iIndex, setTmt, dConfThr);
			o != OBJECT_ILLEGAL;
			o = WM->iterateObjectNext(iIndex, setTmt, dConfThr)) {

		if (SoccerTypes::getIndex(o) + 1 == WM->getPlayerNumber())	// don't include me
			continue;

		posTmt = WM->getGlobalPosition(o);
		if (fabs(posTmt.getY()) < 15 && posTmt.getX() < 30)
			continue;

		if (fabs(posTmt.getY()) > 24 && posTmt.getX() > 30)
			continue;

		if (fabs(posTmt.getX()) < 25
				&& WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,
					Circle(posTmt, 8.0)) > 0)
			continue;

		double distToTmt = posBall.getDistanceTo(posTmt);

		if (distToTmt < 5 || distToTmt > 30)
			continue;

		if (fabs(myY) > fabs(posTmt.getY()))
			continue;

		if (posTmt.getX() < 30)
			posEnd.setVecPosition(52.5, posTmt.getY());
		else
			posEnd.setVecPosition(52.5, sign(posTmt.getY()) * 6);

		VecPosition posShoot =
			getThroughPassShootingPoint(o, posEnd, &angTmp);

		if (WM->
				getNrInSetInCircle(OBJECT_SET_OPPONENTS,
					Circle(posShoot, 8.0)) > 0)
			continue;

		if (angTmp > angMax) {
			angMax = angTmp;
			tmt = o;
			pos = posEnd;
		}
	}
	WM->iterateObjectDone(iIndex);

	if (angMax >= 15) {
		//cout << endl << " haha !  a good through pass!!";
		return true;
	} else
		return false;
}

/*
 *
 */
bool Player::canClearForward(VecPosition & posClearF, double &speedClearF)
{
	VecPosition posBall = WM->getBallPos();
	VecPosition posAgent = WM->getAgentGlobalPosition();
	double myX = posAgent.getX();
	double myY = posAgent.getY();

	if (myX > 30 || myX < -5)
		return false;
	else if (WM->
			getNrInSetInCircle(OBJECT_SET_OPPONENTS,
				Circle(posBall, 10)) == 0)
		return false;
	else {
		VecPosition posL, posR;
		if (myY > -0.5) {
			posL.setVecPosition(52.5, 20);
			posR.setVecPosition(52.5, 34);
		} else {
			posL.setVecPosition(52.5, -34);
			posR.setVecPosition(52.5, -20);
		}
		AngDeg angL = (posL - posBall).getDirection();
		AngDeg angR = (posR - posBall).getDirection();
		AngDeg angMax;
		AngDeg angClear =
			WM->getDirectionOfWidestAngle(posBall, angL, angR, &angMax, 30);

		posClearF = posBall + VecPosition(15, angClear, POLAR);

		if (myX < 20)
			speedClearF = 1.9;
		else if (myX < 25)
			speedClearF = 1.0;
		else
			speedClearF = 0.5;

		return true;

	}
}