worldmodelhighlevel.c

机器足球2D比赛程序 对trlen_base_2002的改进

      //考虑到守门员一般不会冲出禁区之外截球。
      if ((oppGoalie != OBJECT_ILLEGAL) && (oppGoalie == o)
	  && (!isInTheirPenaltyArea (posBallPre)))
	continue;

      VecPosition posOpp = getGlobalPosition (o);
      int slowTime = 0;
      double dOppToMe = posAgent.getDistanceTo (posOpp);
      if (dOppToMe < 15)
	slowTime = 1;
      else
	slowTime = 2;

      double distOppMove = SS->getPlayerSpeedMax () * (t - slowTime);	//对手在t个周期内运动的距离。
      double distOppKickable = distOppMove + SS->getMaximalKickDist ();	//对手的可踢范围。
      double ballToOpp = posBallPre.getDistanceTo (posOpp);

      if (ballToOpp - distOppKickable < minDistToOpp)
	minDistToOpp = ballToOpp - distOppKickable;
    }
  iterateObjectDone (iIndex);

  if (minDistToOpp <= 0)
    return true;
  else
    return false;
}


/*! 判断球点pos是否出界。
 *       如果出界返回true，否则返回false。
 *     
 */
bool
WorldModel::isPosOutOfCourt (VecPosition pos)
{
  double x = pos.getX ();
  double y = pos.getY ();

  if (fabs (x) > 52.5 || fabs (y) > 34)
    return true;
  else
    return false;
}


/* find the best shooting point and the probability of goal when shot to the point.
   According to the method of UvA.
   \param posShoot : the best shooting point at the situation now.
   \return : the probability of goal when shot to posShoot.
   */
double
WorldModel::getAgentShootProbability (VecPosition & posShoot)
{
  //it is too far.
  double distToGoal = getRelDistanceOpponentGoal ();
  if (distToGoal > 30)
    return -1;

  VecPosition posAgent = getAgentGlobalPosition ();
  if (fabs (posAgent.getY ()) > 20)
    return -2;

  //get the position of ball.
  VecPosition posBall = getBallPos ();


  //get the position ot goalie.
  ObjectT oppGoalie = getOppGoalieType ();
  VecPosition posGoalie = getGlobalPosition (oppGoalie);
  /*
     if (oppGoalie == OBJECT_ILLEGAL) {
     if (distToGoal < 16) {
     return 0.95;
     } else {
     return -1.1;
     }
     } else {
     posGoalie = getGlobalPosition(oppGoalie);
     }
   */

  //get the value of 'd' : the distance between the ball and the goalie.
  double d = posBall.getDistanceTo (posGoalie);

  //get the value of 'a1' : the direction of line from ball to goalie.
  AngDeg a1 = (posGoalie - posBall).getDirection ();

  double maxp = 0, maxi = 0;	//the max probability and its position.
  double l = -7.01, r = 7.01;	//the edge of the shootable area.


  //there may be two shootable area on the goal line when the goalie stands at the middle of goal line.
  double la = 0, li = 0;

  bool lfind = false, rfind = false;	// indicate whether the eade of shootable area is found.

  VecPosition posL (52.5, -7);
  VecPosition posR (52.5, 7);

  double yu = 0.90;		// YU ZHI 阈值.

  //calculate the probability of all the points on the goal line.
  for (double i = -7; i <= 7; i = i + 0.1)
    {
      VecPosition posShoot (52.5, i);
      double p1 = 0;
      if (oppGoalie == OBJECT_ILLEGAL)
	p1 = 1;
      else
	{
	  //get the value of 'a'.
	  AngDeg a2 = (posShoot - posBall).getDirection ();
	  AngDeg a = fabs (VecPosition::normalizeAngle (a1 - a2));

	  //calculate the value of 'u' : use 'a' and 'd'.
	  double u = (a - 26.1) * 0.043 + (d - 9.0) * 0.09 - 0.2;

	  //calculate the probability of ball pass the goalie.
	  p1 = 1.0 / (1.0 + exp (-9.5 * u));
	}

      //calculate the probability of out of goal, two items are considered:
      //   the one is the distance between the ball and the posShoot
      //   the other is the distance between and the edge of the goal.
      //double d2SP = posBall.getDistanceTo(posShoot);
      //double d2OutL = fabs(posShoot.getY()+7);
      //double d2OutR = fabs(7-posShoot.getY());
      //double d2Out = (d2OutL>d2OutR) ? d2OutR : d2OutL;

      //calculate the probability of out of goal 'p2'.
      //double p2 = 1-(0.1 * fabs(i) / 7); //只考虑了射门点到球门中心的程度，且概率分布不合理。
      //double p2 = 1;  //不考虑球射偏的概率。
      Line lineBallSP = Line::makeLineFromTwoPoints (posBall, posShoot);
      double sL = lineBallSP.getDistanceWithPoint (posL);
      double sR = lineBallSP.getDistanceWithPoint (posR);
      VecPosition blockPointL = lineBallSP.getPointOnLineClosestTo (posL);
      VecPosition blockPointR = lineBallSP.getPointOnLineClosestTo (posR);
      double dL = posBall.getDistanceTo (blockPointL);
      double dR = posBall.getDistanceTo (blockPointR);

      //calculate the standard deviation of Gaussian 'gdL' & 'gdR'.
      double gdL = -1.88 * log (1.0 - dL / 45.0);
      double gdR = -1.88 * log (1.0 - dR / 45.0);

      //calculate the probability of 'p2'.
      double p2 = Fi (sR / gdR) - Fi (-1 * sL / gdL);

      //calculate the probability of goal when shoot to posShoot
      double p = p1 * p2;


      if ((p >= yu) && rfind)	//又发现一个新的可射门区间。
	{
	  if (la >= (r - l))
	    {
	      lfind = false;
	      rfind = false;
	      continue;		//当前区间较原来的小，故不保留当前区间。
	    }
	  else
	    {
	      la = r - l;
	    }


	  if (la == 1)		//the area is too small
	    {
	      la = 0;
	      lfind = false;
	      rfind = false;
	    }
	  else
	    {
	      lfind = false;
	      rfind = false;
	      li = (l + r) / 2;
	      cout << endl << " find two areas!";
	    }
	}


      if (not lfind)
	{
	  if (p >= yu)
	    {
	      l = i;
	      lfind = true;
	    }
	}
      else
	{
	  if (p < yu)
	    {
	      r = i;
	      rfind = true;
	    }
	}

      if (p > maxp)
	{
	  maxp = p;
	  maxi = i;
	}
    }

  if (maxp >= yu)
    {
      if (la == 0)
	{
	  posShoot = VecPosition (52.5, (l + r) / 2);
	}
      else
	{
	  if (la < r - l)
	    {
	      posShoot = VecPosition (52.5, (l + r) / 2);
	    }
	  else
	    {
	      posShoot = VecPosition (52.5, li);
	      cout << endl <<
		"-----------the first shoot area is used---------------------";
	    }
	}

    }
  else
    {
      posShoot = VecPosition (52.5, maxi);
    }


  return maxp;
}

/* 计算标准正态分布函数的概率分布。
 * \param x : 积分上限。
 * return : 积分值。
 * 
 */
double
WorldModel::Fi (double x)
{
  if (x >= 3)
    {
      return 1;
    }

  if (x <= -3)
    {
      return 0;
    }

  double fx = fabs (x);		// -3 < fx < 3

  double T[31] =
    { 0.5000, 0.5398, 0.5793, 0.6179, 0.6554, 0.6915, 0.7257, 0.7580,
    0.7881, 0.8159, 0.8413, 0.8643, 0.8849, 0.9032, 0.9192, 0.9332,
    0.9452,
    0.9554, 0.9641, 0.9713, 0.9772, 0.9821, 0.9861, 0.9893, 0.9918,
    0.9938,
    0.9953, 0.9965, 0.9974, 0.9981, 0.9987
  };

  int pos = (int) (fx * 10);

  double p = (T[pos] + T[pos + 1]) / 2;

  if (x > 0)
    {
      return p;
    }
  else
    {
      return 1 - p;
    }

}


/*! 判断自己是否可以以 dribbleT 的方式带球。
 *    今后可以改写成判断自己的某一名队友是否可以带球。
 * 
 */
bool
WorldModel::canDribble (AngDeg & angDribble, DribbleT dribbleT)
{

  if (isFreeKickUs () || isCornerKickUs () || isOffsideThem ())
    return false;

  double myStamina = getAgentStamina ().getStamina ();
  if (myStamina < 1400)
    return false;

  VecPosition posBall = getBallPos ();
  double ballx = posBall.getX ();
  double bally = posBall.getY ();
  VecPosition posLeft, posRight;

  if (ballx < 30)
    {
      posLeft.setVecPosition (52.5, -20);
      posRight.setVecPosition (52.5, 20);
    }
  else
    {
      if (bally > 20)
	{
	  posLeft.setVecPosition (36, 0);
	  posRight.setVecPosition (52.5, 0);
	}
      else if (bally < -20)
	{
	  posLeft.setVecPosition (52.5, 0);
	  posRight.setVecPosition (36, 0);
	}
      else
	{
	  posLeft.setVecPosition (52.5, -7);
	  posRight.setVecPosition (52.5, 7);
	}
    }

  AngDeg angLeft = (posLeft - posBall).getDirection ();
  AngDeg angRight = (posRight - posBall).getDirection ();
  AngDeg angL2R = fabs (VecPosition::normalizeAngle (angLeft - angRight));

  double dDist = 10;
  if (dribbleT == DRIBBLE_FAST)
    {
      dDist = 20;
    }
  else if (dribbleT == DRIBBLE_SLOW)
    {
      dDist = 10;
    }
  else if (dribbleT == DRIBBLE_WITHBALL)
    {
      dDist = 8;
    }
  else
    cout << endl << "erro!............dribble type";


  if (ballx > 34)
    {
      angDribble =
	(VecPosition (52.5, sign (bally) * 3) - posBall).getDirection ();
    }
  else
    {
      AngDeg angMax = 0;
      angDribble =
	getDirectionOfWidestAngle (posBall, angLeft, angRight, &angMax,
				   dDist);
    }


  // 身边有人，不可以dribble。
  if (isOpponentAtAngle (angDribble, dDist))
    return false;
  else
    return true;

  /*
     if ( getNrInSetInCircle (OBJECT_SET_OPPONENTS, Circle (posBall, dDist)) > 1)
     return false;
     else if ( getNrInSetInCircle (OBJECT_SET_OPPONENTS, Circle (posBall, dDist/2)) > 0)
     return false;
     else
     return true;    
   */
}

////////////////////////////////////////////////////////////
// new pass
////////////////////////////////////////////////////////////

/*! 判断是否可以将球传给队友。
 *      param \tmt ： 记录可以接球的队友；
 *      param \angPass : 记录传球给队友tmt时应该偏的角度；
 *      param \speedPass : 记录传球的速度；
 *      param \posT : 接球者相对于自己的位置。
 * 
 */
bool WorldModel::canSmartPassBallToTmt(ObjectT &tmt, AngDeg &angPass, double &speedPass)
{
	tmt = OBJECT_ILLEGAL;

	VecPosition posAgent  = getAgentGlobalPo