offense.cpp

2006年世界杯足球赛2D仿真组第16名的源代码。在此代码上随便改改

/*
 *  Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET).
 *
 *  This program is free software, you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU Library General Public License for more details.
 *
 *  This file is created by: Ahmad Boorghany
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#include <cmath>

#include <Pass.h>
#include <Logger.h>
#include <Basics.h>
#include <Defines.h>
#include <Offense.h>
#include <BasicDash.h>
#include <BasicTurn.h>

#include <AdvancedAgent.h>


using namespace std;

Offense::Offense(const WorldModel *worldModel): AdvancedAction(worldModel)
{
}

Offense::~Offense()
{
}

float Offense::getValue(const Library &library)
{
	LOG << "Offense::getValue" << endl;
/*	if (worldModel->getPlayMode() != PM_PLAY_ON)
	{
		nonPlayOnOffense();
		return AD_NORMAL_VALUE;
	}

	offenseDecision = getOffenseDecision();
	if (offenseDecision == OD_GETTING_CROSS)
	{
		resetWeights();
//		logWeights();
		applyInterceptCalcWeights();
//		logWeights();
		applyHomeWeights();
//		logWeights();
		applyShootWeights();
//		logWeights();

		offenseMax = getMaxWeight();
		if (offenseMax == NOVALUE)
			offensePoint = positioning.getHomePoint(
					worldModel->getBody().getUniNum());
		else
			offensePoint = getWeightPoint(offenseMax);
	}
	else
	{
		offenseMax = NOVALUE;
		offensePoint = positioning.getHomePoint(
				worldModel->getBody().getUniNum());
	}*/

	return AD_MIN_VALUE;
}

void Offense::execute(Form &form, const Library &library)
{
	LOG << "Offense::execute" << endl;

	Point offensePoint =
			library.positioning.getHomePoint(worldModel->getBody().getUniNum());
	command = library.positioning.getPositioningCommand(offensePoint);
	command->setCreator(AT_OFFENSE);

/*	if (worldModel->getPlayMode() != PM_PLAY_ON)
	{
		command = DashNormalGotoPoint(
		positioning.getHomePoint(worldModel->getBody().getUniNum()), 1, 
		worldModel->getBody()).getCommand();
		if (!command)
		{
			command = new EmptyCommand();
		}
	}

	if (worldModel->getBody().getDistance(offensePoint) < 2)
		command = TurnToObject(worldModel->getBall(),
				worldModel->getBody(), 5).getCommand();
	else
		command = DashNormalGotoPoint(offensePoint, 1,
				worldModel->getBody()).getCommand();

	if (!command)
		command = new EmptyCommand();*/
}

Point Offense::getHomePoint(int playerUniNum, const Library &library)
{
	return library.positioning.getHomePoint(playerUniNum);
}

/*Point Offense::getWeightPoint(unsigned num)
{
	return Point(52 - OFFENSE_X_SIZE + (num % OFFENSE_X_NUM),
			floor((float)num / OFFENSE_X_NUM) - OFFENSE_Y_SIZE / 2);
}

void Offense::applyInterceptCalcWeights()
{
	LOG << "Offense::applyInterceptCalcWeights" << endl;

	interCalc.startSession(0);
	interCalc.updateByWorldModel(worldModel);

	Vector vector;
	vector.setByPoints(worldModel->getBall().getPos(), CROSS_CENTER_POINT);
	vector.setAsPolar(2.7, vector.getDirection());

	Ball simBall;

	for (unsigned i = 0; i < CROSS_CALCULATES_NUM; i++)
	{
		simBall = worldModel->getBall();
		simBall.setVel() = vector;
		simBall.setVel().rotate(((int)i - CROSS_CALCULATES_NUM / 2.00) *
				CROSS_DIR_STEP);

//LOG << "New interCalc." << endl
//	<< "simBall pos: " << simBall.getPos() << endl
//	<< "simBall vel: " << simBall.getVel() << endl;

		simBall.simulateByDynamics(worldModel->getBody());

		interCalc.setVirtualBall(simBall);
		interCalc.run();
		if (interCalc.existFastestPlayer() &&
			interCalc.getFastestPlayer().getTeamId() == TID_OPPONENT)
			applyOneInterceptCalcWeight(interCalc.getFastestInterPlayer());
	}
}

void Offense::applyOneInterceptCalcWeight(const InterceptPlayer &checkPlayer)
{
	LOG << "Offense::applyOneInterceptCalcWeight" << endl;

	float dist = checkPlayer.getPlayer().getDistance(
			checkPlayer.getInterPoint());
//LOG << "dist: " << dist << endl;
//LOG << "interPoint: " << checkPlayer.getInterPoint() << endl;
//LOG << "fastestPos: " << checkPlayer.getPlayer().getPos() << endl;

	for (unsigned i = 0;i < OFFENSE_POINTS_NUM; i++)
		if (getWeightPoint(i).getDistance(checkPlayer.getInterPoint()) <
				dist - FASTEST_DELTA_DIST)
		{
//LOG << "i entered: " << i << endl;
//LOG << "point: " << getWeightPoint(i) << endl;
			if (!valids[i])
				continue;

//LOG << "i added: " << i << endl;
			if (checkPlayer.getPlayer().isGoalie())
				weights[i] += INTERCEPT_CALC_WEIGHT;
			else
				weights[i] += INTERCEPT_CALC_WEIGHT;
		}
}

void Offense::applyHomeWeights()
{
	LOG << "Offense::applyHomeWeights" << endl;

	Point homePoint(positioning.getHomePoint(
			worldModel->getBody().getUniNum()));

	for (unsigned i = 0;i < OFFENSE_POINTS_NUM; i++)
	{
		if (!valids[i])
			continue;

		weights[i] += Basics::reRate(getWeightPoint(i).getDistance(homePoint),
				0, 15, 0, HOME_DIST_WEIGHT, RRM_REVERSE);
	}
}

void Offense::applyShootWeights()
{
	LOG << "Offense::applyShootWeights" << endl;

	float shootDir, shootDist, shootValue;

	for (unsigned i = 0;i < OFFENSE_POINTS_NUM; i++)
	{
		if (!valids[i])
			continue;

		shootDir = Pass::getShootDirValue(getWeightPoint(i), worldModel);
		shootDist = hypot(getWeightPoint(i).x - 52.5,
				fmin(getWeightPoint(i).y - 4,
					 getWeightPoint(i).y + 4));
		shootValue = shootDir - shootDist / 3;

		weights[i] += Basics::reRate(shootValue,
				35, 90, 0, SHOOT_WEIGHT, RRM_DIRECT);
	}
}

unsigned Offense::getMaxWeight()
{
	unsigned maxer = NOVALUE;

	for (unsigned i = 1; i < OFFENSE_POINTS_NUM; i++)
	{
		if (!valids[i])
			continue;

		if (maxer == NOVALUE ||
			weights[i] > weights[maxer])
			maxer = i;
	}

	if (maxer != NOVALUE)
		LOG << "Offense max weight: " << weights[maxer] << endl;
	return maxer;
}

void Offense::resetWeights(void)
{
	float offsideX = worldModel->getOppOffsideLine();
	for (unsigned i = 0; i < OFFENSE_POINTS_NUM; i++)
	{
		weights[i] = 0;
		if (getWeightPoint(i).x > offsideX - OFFSIDE_SURE_DIST)
			valids[i] = false;
		else
			valids[i] = true;
	}
}

OffenseDecision Offense::getOffenseDecision()
{
	if (worldModel->getBall().getPos().getX() > CROSS_PERMITTED_X &&
		(worldModel->getBallStatus() == BS_KICKABLE_TMM ||
		 worldModel->getBallStatus() == BS_KICKABLE_TMM_OPP ||
		 worldModel->getBallStatus() == BS_FREE_BALL_TMM ||
		 worldModel->getBallStatus() == BS_FREE_BALL_TMM_OPP) &&
		 worldModel->getBody().getPostNum() >= 9)
		return OD_GETTING_CROSS;
	return OD_NONE;
}

void Offense::logWeights()
{
	float lastY = getWeightPoint(0).y;

	LOG << "Offense points:" << endl;

	for (unsigned i = 0; i < OFFENSE_POINTS_NUM; i++)
	{
		if (lastY != getWeightPoint(i).y)
		{
			LOG << endl;
			lastY = getWeightPoint(i).y;
		}

		LOG << "P" << getWeightPoint(i) << "V" << valids[i] << "W" << weights[i] << "\t";
	}

	LOG << endl;
}

void Offense::nonPlayOnOffense()
{
	offensePoint = positioning.getHomePoint(
			worldModel->getBody().getUniNum());
	return;
}
*/