goalstraightposplan.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

				alpha = 0.0;
				goalieDist = 0.0;
		}
				
		Point homePoint = library.positioning.getHomePoint(wm->getBody().getUniNum());
		if (isInPlayers(wm->getBody().getUniNum(), "AB"))
			homePoint.y *= config["GoalStraightPos"]["BasicGeometry"]["ABYFactor"].asFloat();
		if (homePoint.y > 30)
			homePoint.y = 30;
		if (homePoint.y < -30)
			homePoint.y = -30;
		float realDFH = calcPoint.getDistance(homePoint);
		float distFromHome = 0.0;
		if (realDFH > 5.0) {
			distFromHome = exp(realDFH - 5.0) /
				 config["GoalStraightPos"]["Factors"]["StabilityPower"].asFloat();
		}

#ifdef LOG_INDIVIDUAL_POINT
		LOG << " g:" << goalieDist << " alpha:" << alpha;
#endif

		float sigmaM = 0.0;
		for (int i =0 ; i <  FULL_PLAYERS_NUM; ++i)
				if (wm->getFullPlayer(TID_OPPONENT, i).isValid()) {
						if (calcPoint.getDistance(wm->getFullPlayer(TID_OPPONENT, i).getPos().asPoint()) < 
								config["GoalStraightPos"]["Factors"]["SemiMarkArea"].asFloat()) {
								sigmaM -= 1/(calcPoint.getDistance(wm->getFullPlayer(TID_OPPONENT, i).getPos().asPoint())+1.0);
						}
						if (wm->getMarkers().find(wm->getFullPlayer(TID_OPPONENT, i).getUniNum())
								!= wm->getMarkers().end()) {
#ifdef LOG_INDIVIDUAL_POINT
								LOG << "cmp.. " <<
										wm->getFullPlayer(TID_OPPONENT, i).getUniNum()
										<< ".. ";
#endif
								sigmaM -= config["GoalStraightPos"]["Factors"]["MarkedPlayersExtra"].asFloat() *
										1/(calcPoint.getDistance(wm->getFullPlayer(TID_OPPONENT, i).getPos().asPoint())+1.0);
						}
				}

		for (int i =0 ; i <  HALF_PLAYERS_NUM; ++i)
				if (wm->getHalfPlayer(TID_OPPONENT, i).isValid()) {
						if (calcPoint.getDistance(wm->getHalfPlayer(TID_OPPONENT, i).getPos().asPoint()) < 
								config["GoalStraightPos"]["Factors"]["SemiMarkArea"].asFloat()) {
								sigmaM -= 1/(calcPoint.getDistance(wm->getHalfPlayer(TID_OPPONENT, i).getPos().asPoint())+1.0);
						}
						if (wm->getMarkers().find(wm->getHalfPlayer(TID_OPPONENT, i).getUniNum())
								!= wm->getMarkers().end()) {
#ifdef LOG_INDIVIDUAL_POINT
								LOG << "chmplayer.... " <<
										wm->getHalfPlayer(TID_OPPONENT, i).getUniNum()
										<< endl;
#endif
								sigmaM -= config["GoalStraightPos"]["Factors"]["MarkedPlayersExtra"].asFloat() *
										1/(calcPoint.getDistance(wm->getHalfPlayer(TID_OPPONENT, i).getPos().asPoint())+1.0);
						}
				}
#ifdef LOG_INDIVIDUAL_POINT
		LOG << " sigmaM " << sigmaM << " dfHome " << distFromHome << endl;
#endif

		float value = 
				config["GoalStraightPos"]["Factors"]["Alpha"].asFloat() *alpha  + 
				config["GoalStraightPos"]["Factors"]["GoalieDist"].asFloat()*goalieDist + 
				config["GoalStraightPos"]["Factors"]["SigmaM"].asFloat()*sigmaM +
				config["GoalStraightPos"]["Factors"]["Stability"].asFloat() * distFromHome;
		return value;
					
}
				
				
float GoalStraightPosPlan::calculatePath(Vector moveVector, int numPoints,
										 float decay)
{
	Body pathPlayer(wm->getBody());
	Command *pathCommand;
	Point targetPoint;
	float weight, decayMultiplier;
	int i;
	weight = 0;
	float value;
	float oppOffsideX;
	decayMultiplier = 1;
	oppOffsideX = wm->getOppOffsideLine(true);
	
	for (i = 0; i < numPoints; i++) {			
			targetPoint= pathPlayer.getPos() + moveVector;
			
			if ( (abs(targetPoint.x) > 52.5) || (abs(targetPoint.y) > 34)) {
					LOG << "skipping out.." << endl;
					continue;
			}
			LOG << "s1.7:" << i << endl;
			if (targetPoint.x > oppOffsideX) {
					LOG << "offside... giving minus weight" << endl;
					weight += config["GoalStraightPos"]["Factors"]["OffsideWeight"].asFloat()
									* decayMultiplier;
			}
			
			pathCommand = PreciseGotoPoint(AT_NONE,targetPoint, 0.5, pathPlayer, true, 5).getCommand();
			pathPlayer.simulateByAction(pathCommand);
			pathPlayer.simulateByDynamics();
			oppOffsideX += 0.5; // <--== BARRASI
			delete pathCommand;
			value = getValueForPoint(pathPlayer.getPos()); 
			LOG << "GoalStraightPosPlan:CP mv=" << moveVector <<
					" point=" << pathPlayer.getPos() << " value=" << value << endl;
			weight += value * decayMultiplier;
			decayMultiplier *= decay;
	}
	LOG << "GoalStraightPosPlan:W " << weight << endl;
	return weight;
}

Vector
GoalStraightPosPlan::getBestVectorInFreeArea() 
{
	int pathPoints = config["GoalStraightPos"]["BasicGeometry"]["PathPoints"].asInt();
	float pathDecay = config["GoalStraightPos"]["BasicGeometry"]["PathDecay"].asFloat();

    LOG << "calculating required and sufficient parameters...." << endl;
		Point bestPoint;
		vector <Vector> directionVector;
		Vector tempVector;
		if (isAngleOK(wm->getBody().getBodyDir())) {
			tempVector.setAsPolar(2, wm->getBody().getBodyDir()); // go forward
			directionVector.push_back(tempVector);	
		}
		if (isAngleOK(wm->getBody().getBodyDir() + 180)) {
			tempVector.setAsPolar(2, wm->getBody().getBodyDir() + 180); // go backward
			directionVector.push_back(tempVector);	
		}
		if (isAngleOK(wm->getBody().getBodyDir()) + 30) {
			tempVector.setAsPolar(2, wm->getBody().getBodyDir() + 30); // go +30
			directionVector.push_back(tempVector);	
		}
		if (isAngleOK(wm->getBody().getBodyDir()) + 30 + 180) {
			tempVector.setAsPolar(2, wm->getBody().getBodyDir() + 30 + 180); // go +30
			directionVector.push_back(tempVector);	
		}
		if (isAngleOK(wm->getBody().getBodyDir()) - 30) {
			tempVector.setAsPolar(2, wm->getBody().getBodyDir() - 30); // go -30
			directionVector.push_back(tempVector);	
		}
		if (isAngleOK(wm->getBody().getBodyDir()) - 30 + 180) {
			tempVector.setAsPolar(2, wm->getBody().getBodyDir() - 30 + 180); // go -30 backward
			directionVector.push_back(tempVector);	
		}
		tempVector.setAsCartesian(0, 0); // wait here
		directionVector.push_back(tempVector);	
		
		float maxWeight = -10000.0;
		int maxer = 0;
		// checking moving paths...
		for (unsigned i =0 ; i < directionVector.size(); ++i) {
				float newWeight = calculatePath(directionVector[i], pathPoints, pathDecay);
				LOG << "GoalStraightPosPlan:direction[" << i << "].angle=" << directionVector[i].getDirection()
					 << " weight=" << 
						newWeight << endl;
				if (newWeight >= maxWeight) {
						maxWeight = newWeight;
						maxer = i;
				}
		}
		LOG << "Best Value: " << maxWeight << endl;
		LOG << "I say: " << directionVector[maxer] << " [" << maxer << "]" << " angle:" <<
			 directionVector[maxer].getDirection() << endl;
		return directionVector[maxer];
}

double
GoalStraightPosPlan::successRate()
{
    return 1.0;
}

bool
GoalStraightPosPlan ::isFinished()
{
    if (!isInPlayers(wm->getBody().getUniNum(), "234"))
        return true;
	if (wm->getBallStatus() == BS_KICKABLE_OPP ||
		wm->getBallStatus() == BS_FREE_BALL ||
		wm->getBallStatus() == BS_FREE_BALL_OPP)
		return true;

    if (!wm->isBallKickable() &&
        library.gwSelection == WOBS_OFFENSE)
        return false;
    return true;
}

bool
GoalStraightPosPlan::isInPenaltyArea(const Point & p) const
{
    return ((abs(p.y) <= 20) && (p.x >= 36.2));
}

float
GoalStraightPosPlan::getProperAngle(float angle1, float angle2) const
{
		return abs(normalizeAngle(angle1-angle2));
}

void
GoalStraightPosPlan::turnToGoal()
{
	TurnToAngle a(AT_OFFENSE, 0, wm->getBody());
	throw a.getCommand();
}

bool
GoalStraightPosPlan::isAngleOK(float angle) const 
{
	angle = getProperAngle(angle, 0);
	if (angle > PATH_ABS_ANGLE && angle < (180 - PATH_ABS_ANGLE))
		return false;
	else
		return true;
}