possiblepoints.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

}


int PossiblePoints::addFlag(const FieldFlag* flag, float headAngle,
	float quantizeStep)
{
	int i, j;
	int n = 0;
	float a, b, c, d, e;
	float distMin, distMax, dirMin, dirMax;
	float flagX = 0, flagY = 0;

	//	//LogMaker.Log(LV_WModel,"addFlag Start maxData= ",maxData);

	a = flag->getSeeDistance();
	b = log(a);
	c = quantize(b, quantizeStep); // .1 = flag_quantize_step
	quantizeRange(c, quantizeStep, d, e); // .1 = flag_quantize_step
	distMin = exp(d);
	distMax = exp(e);

	if (distMin > distMax)
	{
		a = distMax;
		distMax = distMin;
		distMin = a;
	}


	a = flag->getSeeDirection();
	a += headAngle;

	quantizeRange(a, 1, dirMin, dirMax);

	flagX = flag->getPos().getX();
	flagY = flag->getPos().getY();

	//	//LogMaker.Log(LV_WModel,"addFlag flagX, flagY= ",flagX," ",flagY);
	//	//LogMaker.Log(LV_WModel,"PP CDists : " ,distMin, " " ,distMax);
	//	//LogMaker.Log(LV_WModel,"PP CDirs : " ,dirMin, " " ,dirMax);
	Degree::absoluteAngle(dirMin);
	Degree::absoluteAngle(dirMax);

	for (i = 0; i < pointsTablePW; i++)
		for (j = 0; j < pointsTablePH; j++)
			if (data[i + pointsTablePW * j] == maxData)
			{
				a = flagX - (((i + 0.5f) * dX) + left);
				b = flagY - (((j + 0.5f) * dY) + down);
				c = hypot(a, b);
				d = Degree::arcTan2(b, a);
				Degree::absoluteAngle(d);
				//				//LogMaker.Log(LV_WModel,"PP addFlag CP i, j=",i," ",j);
				//				//LogMaker.Log(LV_WModel,"PP addFlag CP PX, PY=",(((i+0.5f)*dX) + left)," ",(((j+0.5f)*dY) + down));
				//				//LogMaker.Log(LV_WModel,"PP addFlag CP DX, DY=",a," ",b);
				//				//LogMaker.Log(LV_WModel,"PP addFlag CP Dist, Dir=",c," ",d);
				if (c > distMin && c < distMax)
					if (Degree::isBetween(dirMin, dirMax, d)) // IsBeTwEeN cAn Be FaStEr BeCaUsE fIrSt TwO aRgUmEnTs ArE cOnStAnT mAnY tImEs
					{
						//						//LogMaker.Log(LV_WModel,"PP addFlag CP Added");
						n++;
						(data[i + pointsTablePW * j])++;
					}
			}

	if (n > 0)
		maxData++;

	//	view();

	//	//LogMaker.Log(LV_WModel,"addFlag End maxData= ",maxData);

	return n;
}


void PossiblePoints::calculate()
{
	int i, j;

	if (maxData == 0)
		return;

	float sumX = 0;
	float sumY = 0;
	float sumDeviationX = 0;
	float sumDeviationY = 0;
	float N = 0;

	//LogMaker.Log(LV_WModel,"calculate Start");
	//LogMaker.Log(LV_WModel,"maxData=",maxData);
	view();


	for (i = 0; i < pointsTablePW; i++)
		for (j = 0; j < pointsTablePH; j++)
			if (data[i + pointsTablePW * j] == maxData)
			{
				//LogMaker.Log(LV_WModel,"AddPoint D, getX(),getY() = ",data[i+pointsTablePW * j]," ",i," ",j);
				//				//LogMaker.Log(LV_WModel,"	   ",  (   ((float)(data[i][j])) /max));
				//				sumX+=((i * dX) + left)*   (   ((float)(data[i][j])) /max) ;
				//				sumDeviationX+=(((i * dX) + left)*((i * dX) + left))*   (   ((float)(data[i][j])) /max);
				//				sumY+=((j * dY) + down)*   (   ((float)(data[i][j])) /max);
				//				sumDeviationY+=(((j * dY) + down)*((j * dY) + down))*   (   ((float)(data[i][j])) /max);
				//				N+=(   (   ((float)(data[i][j])) /max));
				//				//LogMaker.Log(LV_WModel,"PP Calc AddPoint D, getX(),getY() = ",data[i][j]," ",i," ",j);
				//				//LogMaker.Log(LV_WModel,"PP Calc AddPoint PX, PY = ",((i+0.5f)*dX) + left," ",((j+0.5f)*dY) + down);
				sumX += (((i + 0.5f) * dX) + left);
				sumDeviationX += ((((i + 0.5f) * dX) + left) * (((i + 0.5f) * dX) +
					left));
				sumY += (((j + 0.5f) * dY) + down);
				sumDeviationY += ((((j + 0.5f) * dY) + down) * (((j + 0.5f) * dY) +
					down));
				N += 1;
			}

	//LogMaker.Log(LV_WModel,"PP Calc sumX, sumY, N=",sumX," ",sumY," ",N);
	//LogMaker.Log(LV_WModel,"PP Calc sumDeviationX, sumDeviationY, N=",sumDeviationX," ",sumDeviationY," ",N);

	xAverage = (sumX / N);
	yAverage = (sumY / N);

	//LogMaker.Log(LV_WModel,"PP Calc XA, YA=",xAverage," ",yAverage);

	xDeviation = (sumDeviationX / N) - (xAverage * xAverage);
	yDeviation = (sumDeviationY / N) - (yAverage * yAverage);
	//LogMaker.Log(LV_WModel,"PP Calc XD, YD=",xDeviation," ",yDeviation);
	xDeviation = sqrt(fabs(xDeviation));
	yDeviation = sqrt(fabs(yDeviation));
	//LogMaker.Log(LV_WModel,"PP Calc XD, YD=",xDeviation," ",yDeviation);

	//LogMaker.Log(LV_WModel,"calculate End");
}


int PossiblePoints::addPositionSimulate(float x, float y, float velX,
	float velY, float rand, float posDeviation, float velDeviation)
{
	float xRandMax, yRandMax;
	int n = 0;

	//LogMaker.Log(LV_WModel,"Pos Sim Start getX()=",getX()," getY()=",getY());
	//LogMaker.Log(LV_WModel,"Pos Sim Start PD=",posDeviation," VD=",velDeviation);

	xRandMax = velX * rand;
	yRandMax = velY * rand;

	xRandMax += (posDeviation + velDeviation) / SQRT2;
	yRandMax += (posDeviation + velDeviation) / SQRT2;

	//LogMaker.Log(LV_WModel,"Pos Sim XYRandMax=",xRandMax," ",yRandMax);

	float iteration;
	int posSimX, posSimY;

	Vector absVelVector, relVelVector;
	absVelVector.setAsCartesian(velX, velY);

	iteration = dX > dY ? dY : dX;
	if (iteration < pointsTablePDX / 2)
		iteration = pointsTablePDX / 2;
	if (iteration < pointsTablePDY / 2)
		iteration = pointsTablePDY / 2;

	//LogMaker.Log(LV_WModel,"Pos Sim iteration=",iteration);


	for (float i = -xRandMax; i <= xRandMax; i += iteration)
		for (float j = -yRandMax; j <= yRandMax; j += iteration)
		{
			relVelVector.setAsCartesian(i, j);
			relVelVector.rotate(-(absVelVector.getDirection()));
			posSimX = (int) ((relVelVector.getX() + x - left) / dX);
			posSimY = (int) ((relVelVector.getY() + y - down) / dY);
			//LogMaker.Log(LV_WModel,"Pos Sim i, j=",i," ",j);
			//LogMaker.Log(LV_WModel,"Pos Sim posSimX, posSimY=",posSimX," ",posSimY);
			if (posSimX >= 0 &&
				posSimX < pointsTablePW &&
				posSimY >= 0 &&
				posSimY < pointsTablePH)
				if (data[posSimX + pointsTablePW * posSimY] == maxData)
				{
					data[posSimX + pointsTablePW * posSimY]++;
					//LogMaker.Log(LV_WModel,"Pos Sim Added");
					n++;
				}
		}

	if (n > 0)
		maxData++;

	//LogMaker.Log(LV_WModel,"Pos Sim Added N=",n," getX()=",getX()," getY()=",getY());
	//LogMaker.Log(LV_WModel,"velX=",velX," velY=",velY," rand=",rand);

	return n;
}


void PossiblePoints::setBySee(float distance, float direction,
	float headAngle, const Vector &agentPosition, float quantizeStep)
{
	float a, b, c, d, e;
	float distMin, distMax, dirMin, dirMax;

	Vector ray;

	//LogMaker.Log(LV_WModel,"PP See Start ");

	// Initialize Table With Nearest flag

	a = distance;
	b = log(a);
	c = quantize(b, quantizeStep); // .1 = flag_quantize_step
	d = 0;
	e = 0;
	quantizeRange(c, quantizeStep, d, e); // .1 = flag_quantize_step
	distMin = exp(d);
	distMax = exp(e);


	if (distMin > distMax)
	{
		a = distMax;
		distMax = distMin;
		distMin = a;
	}

	//	//LogMaker.Log(LV_WModel,"PP See Dist MM=",distMin," ",distMax);

	a = direction;
	a += headAngle;

	quantizeRange(a, 1, dirMin, dirMax);

	//	//LogMaker.Log(LV_WModel,"PP headAngle=",headAngle);
	//	//LogMaker.Log(LV_WModel,"PP See Dir MM=",dirMin," ",dirMax);

	ray.setAsPolar(distMin, dirMin);
	ray = ray + agentPosition;
	a = ray.getX(); // xmin
	b = ray.getY(); // ymin
	c = ray.getX(); // xmax
	d = ray.getY(); // ymax

	//	//LogMaker.Log(LV_WModel,"PP See 1XMin XMax=",a," ",c);
	//	//LogMaker.Log(LV_WModel,"PP See 1YMin YMax=",b," ",d);


	ray.setAsPolar(distMin, dirMax);
	ray = ray + agentPosition;
	if (ray.getX() < a)
		a = ray.getX();
	if (ray.getX() > c)
		c = ray.getX();
	if (ray.getY() < b)
		b = ray.getY();
	if (ray.getY() > d)
		d = ray.getY();

	//	//LogMaker.Log(LV_WModel,"PP See 2XMin XMax=",a," ",c);
	//	//LogMaker.Log(LV_WModel,"PP See 2YMin YMax=",b," ",d);


	ray.setAsPolar(distMax, dirMin);
	ray = ray + agentPosition;
	if (ray.getX() < a)
		a = ray.getX();
	if (ray.getX() > c)
		c = ray.getX();
	if (ray.getY() < b)
		b = ray.getY();
	if (ray.getY() > d)
		d = ray.getY();

	//	//LogMaker.Log(LV_WModel,"PP See 3XMin XMax=",a," ",c);
	//	//LogMaker.Log(LV_WModel,"PP See 3YMin YMax=",b," ",d);


	ray.setAsPolar(distMax, dirMax);
	ray = ray + agentPosition;
	if (ray.getX() < a)
		a = ray.getX();
	if (ray.getX() > c)
		c = ray.getX();
	if (ray.getY() < b)
		b = ray.getY();
	if (ray.getY() > d)
		d = ray.getY();

	//	//LogMaker.Log(LV_WModel,"PP See 4XMin XMax=",a," ",c);
	//	//LogMaker.Log(LV_WModel,"PP See 4YMin YMax=",b," ",d);

	Degree::absoluteAngle(dirMin);
	Degree::absoluteAngle(dirMax);

	if (Degree::isBetween(dirMin, dirMax, 90))
	{
		ray.setAsPolar(distMax, 90);
		ray = ray + agentPosition;
		//		if (ray.getX() < a) a = ray.getX();
		//	  if (ray.getX() > c) c = ray.getX();
		if (ray.getY() < b)
			b = ray.getY();
		if (ray.getY() > d)
			d = ray.getY();

		//	//LogMaker.Log(LV_WModel,"PP See 5XMin XMax=",a," ",c);
		//	//LogMaker.Log(LV_WModel,"PP See 5YMin YMax=",b," ",d);
	}

	if (Degree::isBetween(dirMin, dirMax, 270))
	{
		ray.setAsPolar(distMax, -90);
		ray = ray + agentPosition;
		//		if (ray.getX() < a) a = ray.getX();
		//	  if (ray.getX() > c) c = ray.getX();
		if (ray.getY() < b)
			b = ray.getY();
		if (ray.getY() > d)
			d = ray.getY();

		//	//LogMaker.Log(LV_WModel,"PP See 6XMin XMax=",a," ",c);
		//	//LogMaker.Log(LV_WModel,"PP See 6YMin YMax=",b," ",d);
	}

	if (Degree::isBetween(dirMin, dirMax, 0))
	{
		ray.setAsPolar(distMax, 0);
		ray = ray + agentPosition;
		if (ray.getX() < a)
			a = ray.getX();
		if (ray.getX() > c)
			c = ray.getX();
		//		if (ray.getY() < b) b = ray.getY();
		//	  if (ray.getY() > d) d = ray.getY();

		//	//LogMaker.Log(LV_WModel,"PP See 7XMin XMax=",a," ",c);
		//	//LogMaker.Log(LV_WModel,"PP See 7YMin YMax=",b," ",d);
	}

	if (Degree::isBetween(dirMin, dirMax, 180))
	{
		ray.setAsPolar(distMax, 180);
		ray = ray + agentPosition;
		if (ray.getX() < a)
			a = ray.getX();
		if (ray.getX() > c)
			c = ray.getX();
		//		if (ray.getY() < b) b = ray.getY();
		//		if (ray.getY() > d) d = ray.getY();

		//	//LogMaker.Log(LV_WModel,"PP See 8XMin XMax=",a," ",c);
		//	//LogMaker.Log(LV_WModel,"PP See 8YMin YMax=",b," ",d);
	}

	initTableByNorthEast(a, b, c - a, d - b);

	//	//LogMaker.Log(LV_WModel,"PP Table Inited");
	//	view();

	int n;
	n = addSee(distance, direction, headAngle, agentPosition, quantizeStep);

	//LogMaker.Log(LV_WModel,"PP See End N=",n);
}


int PossiblePoints::addSee(float distance, float direction, float headAngle,
	const Vector &agentPosition, float quantizeStep)
{
	int i, j;
	int n = 0;
	float a, b, c, d, e;
	float distMin, distMax, dirMin, dirMax;

	//	//LogMaker.Log(LV_WModel,"addSee Start maxData= ",maxData);

	a = distance;
	b = log(a);
	c = quantize(b, quantizeStep); // .1 = flag_quantize_step
	d = 0;
	e = 0;
	quantizeRange(c, quantizeStep, d, e); // .1 = flag_quantize_step
	distMin = exp(d);
	distMax = exp(e);

	if (distMin > distMax)
	{
		a = distMax;