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

		distMax = distMin;
		distMin = a;
	}


	a = direction;
	a += headAngle;

	quantizeRange(a, 1, dirMin, dirMax);

	//	//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 = (((i + 0.5f) * dX) + left) - agentPosition.getX();
				b = (((j + 0.5f) * dY) + down) - agentPosition.getY();
				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,"addSee End maxData= ",maxData);

	return n;
}


void PossiblePoints::setByVelocitySimulate(float velX, float velY,
	float headAngle, float rand, float velDeviation)
{
	float a, b, c, d;

	float xRandMax, yRandMax;

	//	LogMaker.Log(LV_WModel,"PP Set By Velocity Simulate Start");

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

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


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

	relVelVector.setAsCartesian(-xRandMax, -yRandMax);
	relVelVector.setAsPolar(relVelVector.getMagnitude(),
					relVelVector.getDirection() + absVelVector.getDirection());
	relVelVector = relVelVector + absVelVector;
	relVelVector.setAsPolar(relVelVector.getMagnitude(),
					relVelVector.getDirection() - headAngle);
	a = relVelVector.getX(); // xmin
	b = relVelVector.getY(); // ymin
	c = relVelVector.getX(); // xmax
	d = relVelVector.getY(); // ymax


	relVelVector.setAsCartesian(-xRandMax, yRandMax);
	relVelVector.setAsPolar(relVelVector.getMagnitude(),
					relVelVector.getDirection() + absVelVector.getDirection());
	relVelVector = relVelVector + absVelVector;
	relVelVector.setAsPolar(relVelVector.getMagnitude(),
					relVelVector.getDirection() - headAngle);
	if (relVelVector.getX() < a)
		a = relVelVector.getX();
	if (relVelVector.getX() > c)
		c = relVelVector.getX();
	if (relVelVector.getY() < b)
		b = relVelVector.getY();
	if (relVelVector.getY() > d)
		d = relVelVector.getY();

	relVelVector.setAsCartesian(xRandMax, -yRandMax);
	relVelVector.setAsPolar(relVelVector.getMagnitude(),
					relVelVector.getDirection() + absVelVector.getDirection());
	relVelVector = relVelVector + absVelVector;
	relVelVector.setAsPolar(relVelVector.getMagnitude(),
					relVelVector.getDirection() - headAngle);
	if (relVelVector.getX() < a)
		a = relVelVector.getX();
	if (relVelVector.getX() > c)
		c = relVelVector.getX();
	if (relVelVector.getY() < b)
		b = relVelVector.getY();
	if (relVelVector.getY() > d)
		d = relVelVector.getY();

	relVelVector.setAsCartesian(xRandMax, yRandMax);
	relVelVector.setAsPolar(relVelVector.getMagnitude(),
					relVelVector.getDirection() + absVelVector.getDirection());
	relVelVector = relVelVector + absVelVector;
	relVelVector.setAsPolar(relVelVector.getMagnitude(),
					relVelVector.getDirection() - headAngle);
	if (relVelVector.getX() < a)
		a = relVelVector.getX();
	if (relVelVector.getX() > c)
		c = relVelVector.getX();
	if (relVelVector.getY() < b)
		b = relVelVector.getY();
	if (relVelVector.getY() > d)
		d = relVelVector.getY();

	a = a - VELOCITY_SAFE_AREA;
	b = b - VELOCITY_SAFE_AREA;
	c = c + VELOCITY_SAFE_AREA;
	d = d + VELOCITY_SAFE_AREA;

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

	//	LogMaker.Log(LV_WModel,"PP Table Inited");
	//	LogMaker.Log(LV_WModel,"PP Table Inited abcd:",a," ",b," ",c," ",d);
	view();

	///	n = addVelocitySimulate(velX, velY, rand, velDeviation);

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


int PossiblePoints::addVelocitySimulate(float velX, float velY,
	float headAngle, float rand, float velDeviation)
{
	float xRandMax, yRandMax;
	int n = 0;

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

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

	float iteration;
	int posSimX, posSimY;

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

	iteration = dX > dY ? dY : dX;

	for (float i = -xRandMax; i <= xRandMax; i += iteration)
		for (float j = -yRandMax; j <= yRandMax; j += iteration)
		{
			relVelVector.setAsCartesian(i, j);
			relVelVector.setAsPolar(relVelVector.getMagnitude(),
							relVelVector.getDirection() +
							absVelVector.getDirection());
			relVelVector = relVelVector + absVelVector;
			relVelVector.setAsPolar(relVelVector.getMagnitude(),
							relVelVector.getDirection() - headAngle);
			posSimX = (int) ((relVelVector.getX() - left) / dX);
			posSimY = (int) ((relVelVector.getY() - down) / dY);
			if (posSimX >= 0 &&
				posSimX < pointsTablePW &&
				posSimY >= 0 &&
				posSimY < pointsTablePH)
				if (data[posSimX + pointsTablePW * posSimY] == maxData)
				{
					data[posSimX + pointsTablePW * posSimY]++;
					n++;
				}
		}

	if (n > 0)
		maxData++;

	//	LogMaker.Log(LV_WModel,"Vel Sim Added N=",n);
	//	LogMaker.Log(LV_WModel,"velX=",velX," velY=",velY," rand=",rand);
	view();

	return n;
}


void PossiblePoints::addVelocityDistDirChange(const Vector &headVector,
	float distChng, float dirChng, float quantizeStep)
{
	float dirChngMin, dirChngMax;
	float distChngMin, distChngMax;
	float a, b, c, d, e, f;
	int i, j, n;
	n = 0;

	//	LogMaker.Log(LV_WModel,"Add DD Start");

	quantizeRange(-dirChng, quantizeStep, dirChngMin, dirChngMax);
	dirChngMin -= 0.2;
	dirChngMax += 0.2;
	//	LogMaker.Log(LV_WModel,"Add DD QDirChng:",dirChng);
	//	LogMaker.Log(LV_WModel,"Add DD QDistChng:",distChng);

	//	LogMaker.Log(LV_WModel,"Add DD QDirChng MM:",QDirChngMin," ",QDirChngMax);

	float distanceMin, distanceMax;

	a = headVector.getMagnitude();
	b = log(a);
	c = quantize(b, quantizeStep);
	d = 0;
	e = 0;
	quantizeRange(c, quantizeStep, d, e);
	distanceMin = exp(d);
	distanceMax = exp(e);


	if (distanceMin > distanceMax)
	{
		a = distanceMax;
		distanceMax = distanceMin;
		distanceMin = a;
	}

	//\	LogMaker.Log(LV_WModel,"Add DD distance MM:",DistanceMin," ",DistanceMax);

	distChngMin = headVector.getMagnitude() * quantize(((distChng /
		distanceMax)),
												0.02) -
		0.02;
	distChngMax = headVector.getMagnitude() * quantize(((distChng /
		distanceMin)),
												0.02) +
		0.02;

	//\	LogMaker.Log(LV_WModel,"Add DD QDC MM :",QDistChngMin," ",QDistChngMax);

	for (i = 0; i < pointsTablePW; i++)
		for (j = 0; j < pointsTablePH; j++)
			if (data[i + pointsTablePW * j] == maxData)
			{
				//\				LogMaker.Log(LV_WModel,"Add DD i, j CHK :",i," ",j);
				a = (((i + 0.5f) * dX) + left);
				b = (((j + 0.5f) * dY) + down);
				//\				LogMaker.Log(LV_WModel,"Add DD a, b CHK :",a," ",b);
				c = headVector.getX() / headVector.getMagnitude();
				d = headVector.getY() / headVector.getMagnitude();
				//\				LogMaker.Log(LV_WModel,"Add DD c, d CHK :",c," ",d);
				e = (a * c) + (b * d);
				f = ((-(a * d) + (b * c)) / headVector.getMagnitude()) * (180 /
					PI);
				//\				LogMaker.Log(LV_WModel,"Add DD e, f CHK :",e," ",f);



				if (f >= dirChngMin &&
					f <= dirChngMax &&
					e >= distChngMin &&
					e <= distChngMax)
				{
					if (data[i + pointsTablePW * j] == maxData)
					{
						n++;
						(data[i + pointsTablePW * j])++;
						//\						LogMaker.Log(LV_WModel,"Add DD Added");
					}
				}
			}
	if (n > 0)
		maxData++;

	view();

	//		return n;
}


void PossiblePoints::quantizeRange(float v, float q, float &min, float &max)
{
	min = v - (q / 2);
	max = v + (q / 2);
}


float PossiblePoints::quantize(float v, float q)
{
	return (rint(v / q)) * q;
}


void PossiblePoints::setMode(int mode)  // 1 *= player 2 *= ball
{
	if (mode == 1)
	{
		pointsTablePDX = POINTS_TABLE_PPDX;
		pointsTablePDY = POINTS_TABLE_PPDY;
	}
	else if (mode == 2)
	{
		pointsTablePDX = POINTS_TABLE_BPDX;
		pointsTablePDY = POINTS_TABLE_BPDY;
	}
	else
	{
		pointsTablePDX = POINTS_TABLE_BPDX;
		pointsTablePDY = POINTS_TABLE_BPDY;
	}
}

Vector PossiblePoints::calculateBodyPosition(const Body &body,
	const FieldFlag **flags, int nFlags, float &retPosDeviation,
	float quantizeStep)
{
	Vector pos;
	setMode(1);

	setByFlags(flags, nFlags, body.getHeadDir(), quantizeStep);
	if (body.getPosDeviation() < VALID_POS_DEVIATION)
		addPositionSimulate(body.getPos().getX(), body.getPos().getY(),
			body.getVel().getX(), body.getVel().getY(), body.getRand(),
			body.getPosDeviation(), 0);

	calculate();
	pos.setAsCartesian(xAverage, yAverage);
	retPosDeviation = sqrt(((xDeviation * xDeviation) +
		(yDeviation * yDeviation))) /
		2;
	destroy();

	return pos;
}


Vector PossiblePoints::calculatePlayerPosition(const Player &player,
	const Body &body, float &retPosDeviation, float quantizeStep)
{
	Vector pos;
	setMode(1);

	setBySee(player.getSeeDistance(), player.getSeeDirection(),
		body.getHeadDir(), body.getPos(), quantizeStep);
	if (player.getPosDeviation() < VALID_POS_DEVIATION)
		addPositionSimulate(player.getPos().getX(), player.getPos().getY(),
			player.getVel().getX(), player.getVel().getY(), player.getRand(),
			player.getPosDeviation(), 0);

	calculate();
	pos.setAsCartesian(xAverage, yAverage);
	retPosDeviation = sqrt(((xDeviation * xDeviation) +
		(yDeviation * yDeviation))) /
		2;
	destroy();

	return pos;
}

Vector PossiblePoints::calculateBallPosition(const Ball &ball,
	const Body &body, float &retPosDeviation, float quantizeStep)
{
	Vector pos;
	setMode(2);

	setBySee(ball.getSeeDistance(), ball.getSeeDirection(), body.getHeadDir(),
		body.getPos(), quantizeStep);
	if (ball.getPosDeviation() < VALID_POS_DEVIATION)
		addPositionSimulate(ball.getPos().getX(), ball.getPos().getY(),
			ball.getVel().getX(), ball.getVel().getY(), ball.getRand(),
			ball.getPosDeviation(), 0);

	calculate();
	pos.setAsCartesian(xAverage, yAverage);
	retPosDeviation = sqrt(((xDeviation * xDeviation) +
		(yDeviation * yDeviation))) /
		2;
	destroy();

	return pos;
}