passball.cpp.svn-base

一个巴西大学编写的2D仿真组足球机器人程序

#include "PassBall.h"

SoccerCommand PassBall::primaryAction()
{
   return primarySoc;
}
SoccerCommand PassBall::cuncurrentAction()
{
   return cuncurrentSoc;
}

/*! Este m�todo o usa o comportamento de passar a bola. Quando o passar a bola
    retorna um comando ilegal, o novo comportamento escolhido � chutar a bola
    para frente. 
    \return um comando para tocar ou chutar a bola */
void PassBall::passBallFoward()
{
   primarySoc = passBall(false);
   if (primarySoc.commandType == CMD_ILLEGAL)
   {
      VecPosition posGoal( PITCH_LENGTH/2.0,
            (-1 + 2*(WM->getCurrentCycle()%2)) * 0.4 * SS->getGoalWidth() );
      primarySoc = kickTo( posGoal, SS->getBallSpeedMax() ); // kick maximal
   }
   cuncurrentSoc = turnNeckToObject( OBJECT_BALL, primarySoc );
}
void PassBall::passBallBack()
{
   VecPosition posPass = WM->getGlobalPosition(OBJECT_TEAMMATE_5);
   AngDeg *angMax=0; 
   primarySoc = throughPass( OBJECT_TEAMMATE_5, posPass, angMax); // pass ball
   cuncurrentSoc = turnNeckToObject( OBJECT_BALL, primarySoc );
}
void PassBall::passBall()
{
   primarySoc = passBall(true);
   if (primarySoc.commandType == CMD_ILLEGAL)
   {
      VecPosition posGoal( PITCH_LENGTH/2.0,
            (-1 + 2*(WM->getCurrentCycle()%2)) * 0.4 * SS->getGoalWidth() );
      primarySoc = kickTo( posGoal, SS->getBallSpeedMax() ); // kick maximal
   }
   cuncurrentSoc = turnNeckToObject( OBJECT_BALL, primarySoc );
}

/*! Este m�todo � usado para fazer o agente tocar a bola para seu companheiro de
    time. A implementa��o deste m�todo foi inspirada no toque de bola criado por
    Linder no Oxenteteam. Este Consiste em analisar a possibilidade de passe
    para cada companheiro at� achar um que o n�vel de seguran�a seja maior do 
    que um n�vel preestabelecido. Se ao final desta an�lise nenhum companheiro 
    tiver sido escolhido ent�o este m�todo retorna um comando ilegal.
    \return um comando de passar a bola ou chutar a goal. */
SoccerCommand PassBall::passBall(bool lunchBall)
{
   int index = 0;
   ObjectT teamMate = WM->iterateObjectStart(index, OBJECT_SET_TEAMMATES);
   ObjectT teamMatePass = teamMate;
   VecPosition posTeamMate = WM->getGlobalPosition(teamMate);
   VecPosition posPass = posTeamMate;
   VecPosition posAgent = WM->getAgentGlobalPosition();
   SoccerCommand soc;
   double rSafety = 0;
   double teammateSafety = getSafetyToPass(posAgent, posTeamMate);
   bool badPass = true;
   // analisa o passe para cada companheiro 
   //posAgent = WM->getAgentGlobalPosition();
   while ( teamMate != OBJECT_ILLEGAL )
   {
      if  ( teamMate != OBJECT_TEAMMATE_GOALIE ) {
         posTeamMate = WM->getGlobalPosition(teamMate);
         rSafety = getSafetyToPass(posAgent, posTeamMate);
         if ( (posTeamMate.isInFrontOf(posAgent) or lunchBall) and ( rSafety > teammateSafety ) and WM->isConfidenceGood( teamMate )){
            posPass = posTeamMate;
            teammateSafety = rSafety;
            teamMatePass = teamMate;
            badPass = false;
         }
      }
      teamMate = WM->iterateObjectNext(index, OBJECT_SET_TEAMMATES);
   }
   if (badPass) {
      soc.commandType = CMD_ILLEGAL;
      return soc;
   }
   AngDeg *angMax=0;
   soc = kickTo(posPass, 0.7); // pass ball
   Log.log( 100, "pass ball" );
   return soc;
}

/*         soc = leadingPass(OBJECT_TEAMMATE_10,1.0);
         ACT->putCommandInQueue( soc );
         ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
         agentHadBall = false; */
void PassBall::simpleLeadingPass(ObjectT teammate)
{
   primarySoc = leadingPass(teammate,1.0);
   cuncurrentSoc =  turnNeckToObject( OBJECT_BALL, primarySoc );
}

void PassBall::advancedPass(ObjectT teammate)
{
   VecPosition Pass;
   /*double coordY = 1.0;
   if(WM->getAgentGlobalPosition().getY() > 0 )
      coordY = -1.0;*/
   if(WM->getAgentGlobalPosition().getDistanceTo(WM->getGlobalPosition(teammate)) > 15.0 )
   {
      Pass.setX(WM->getGlobalPosition(teammate).getX()+10.0); Pass.setY(WM->getGlobalPosition(teammate).getY() );
      primarySoc = kickTo(Pass,PS->getPassEndSpeed());
   }
   else
   {
      Pass.setX(WM->getGlobalPosition(teammate).getX()+5.0); Pass.setY(WM->getGlobalPosition(teammate).getY() );
      primarySoc = kickTo(Pass,PS->getPassEndSpeed());
   }
   cuncurrentSoc =  turnNeckToObject( OBJECT_BALL, primarySoc );
}

/*!Este método consiste em prever a posição do agente após o passe e tocar nesta posição.
*/
void PassBall::predictPass( ObjectT teammate )
{
   int nrCycle = WM->predictNrCyclesToPoint( teammate , WM->getAgentGlobalPosition() );
   primarySoc = kickTo( WM->predictPosAfterNrCycles( teammate , nrCycle) , 1.0);
   cuncurrentSoc =  turnNeckToObject( OBJECT_BALL, primarySoc );
}

/*!Este metodo serve para que o agente de um passe rápido*/
void PassBall::fastPass( ObjectT teammate )
{
   primarySoc = directPass( teammate , PASS_FAST );
   cuncurrentSoc =  turnNeckToObject( OBJECT_BALL, primarySoc );
}

/*! Este metodo serve para o agente passar em jogadas de bola parada, ele observa o campo, avalia, entre dois companheiros o mais confiável e passa */
void PassBall::cobranca( ObjectT teammate1 , ObjectT teammate2 )
{
   static Time   timeLastSearch;
   VecPosition posTeammate1 = WM->getGlobalPosition(teammate1);
   VecPosition posTeammate2 = WM->getGlobalPosition(teammate2);
   VecPosition posAgent = WM->getAgentGlobalPosition();
   if( WM->getPlayMode() == PM_PLAY_ON )
   {
      if( getSafetyToPass(posAgent,posTeammate1) > getSafetyToPass(posAgent,posTeammate2) )
            primarySoc = leadingPass( teammate1 , 1.0 );
         else
            primarySoc = leadingPass( teammate2 , 1.0 );
      cuncurrentSoc = turnNeckToObject( OBJECT_BALL, primarySoc );
         timeLastSearch = WM->getCurrentTime();
   }
   else
   {
      if( WM->getCurrentTime().getTime() == timeLastSearch.getTime()  )
      {
         primarySoc = searchBall();
         cuncurrentSoc = alignNeckWithBody( );
      }
      else
      {
         if( WM->getCurrentTime() - timeLastSearch > 12 )
         {
            if( getSafetyToPass(posAgent,posTeammate1) > getSafetyToPass(posAgent,posTeammate2) )
               primarySoc = leadingPass( teammate1 , 1.0 );
            else
               primarySoc = leadingPass( teammate2 , 1.0 );
            cuncurrentSoc = turnNeckToObject( OBJECT_BALL, primarySoc );
            timeLastSearch = WM->getCurrentTime();
         }
         else if( WM->getCurrentTime() - timeLastSearch > 6 )
         {
            primarySoc = turnBodyToObject( OBJECT_BALL );
            cuncurrentSoc = turnNeckToObject( OBJECT_BALL, primarySoc );
         }
         else
         {
            primarySoc = searchBall();
            cuncurrentSoc = alignNeckWithBody( );
         }
      }
   }
}


/*!Este método avalia, qual o companheiro mais confiável para tocar e toca.
*/
void safetyPass()
{
   /*VecPosition posTeammate = WM->getGlobalPosition(OBJECT_TEAMMATE_9);
   VecPosition posAgent = WM->getAgentGlobalPosition();
   VecPosition posAux = WM->getGlobalPosition(OBJECT_TEAMMATE_2);
   double safetyTeammate, safetyAux;
   safetyTeammate = getSafetyToPass( posAgent ,posTeammate );
   safetyAux = getSafetyToPass( posAgent, posAux );*/
}

/*! Este metodo retorna um valor real indicando a confiabilidade do passe.
    \param recebe o identificador do companheiro de time que dever� receber a bola.
    \return o nivel de confiabilidade do passe.*/
bool PassBall::confidenceToPass( ObjectT teammate )
{
   VecPosition posTeammate = WM->getGlobalPosition(teammate);
   VecPosition posAgent = WM->getAgentGlobalPosition();
   if ( WM->isVisible( teammate ) and ( getSafetyToPass( posAgent , posTeammate ) > 1.1 ))
      return true;
   else
      return false;
}