goaliebehavior.cpp.svn-base

一个巴西大学编写的2D仿真组足球机器人程序

#include "GoalieBehavior.h"

/*!This method is a simple goalie based on the goalie of the simple Team of
   FC Portugal. It defines a rectangle in its penalty area and moves to the
   position on this rectangle where the ball intersects if you make a line
   between the ball position and the center of the goal. If the ball can
   be intercepted in the own penalty area the ball is intercepted and catched.
*/

SoccerCommand GoalieBehavior::primaryAction()
{
  cuncurrentSoc.commandType = CMD_ILLEGAL;
  primarySoc.commandType = CMD_ILLEGAL;
  int i;
  VecPosition   posAgent = WM->getAgentGlobalPosition();
  AngDeg        angBody  = WM->getAgentGlobalBodyAngle();
  //Variaveis utilizadas para analise da confiabilidade
  /*double v1,v2;
  ObjectT bestPlayerToPass;
  VecPosition posgoleiro;*/

  // define the top and bottom position of a rectangle in which keeper moves
  static const VecPosition posLeftTop( -PITCH_LENGTH/2.0 +
               0.7*PENALTY_AREA_LENGTH, -PENALTY_AREA_WIDTH/4.0 );
  static const VecPosition posRightTop( -PITCH_LENGTH/2.0 +
               0.7*PENALTY_AREA_LENGTH, +PENALTY_AREA_WIDTH/4.0 );

  // define the borders of this rectangle using the two points.
  static Line  lineFront = Line::makeLineFromTwoPoints(posLeftTop,posRightTop);
  static Line  lineLeft  = Line::makeLineFromTwoPoints(
                         VecPosition( -50.0, posLeftTop.getY()), posLeftTop );
  static Line  lineRight = Line::makeLineFromTwoPoints(
                         VecPosition( -50.0, posRightTop.getY()),posRightTop );


  if( WM->isBeforeKickOff( ) )
  {
    if( formations->getFormation() != FT_INITIAL || // not in kickoff formation
        posAgent.getDistanceTo( WM->getStrategicPosition() ) > 2.0 )  
    {
      formations->setFormation( FT_INITIAL );       // go to kick_off formation
      primarySoc = teleportToPos(WM->getStrategicPosition());
    }
    else                                            // else turn to center
    {
      primarySoc = turnBodyToPoint( VecPosition( 0, 0 ), 0 );
      cuncurrentSoc = alignNeckWithBody( );
    }
    return primarySoc;
  }
   //Regra para o goleiro se posicionar no centro do gol nas jogadas do adversário
   /*if( WM->isDeadBallThem( WM->getPlayMode() ) )
   {
      primarySoc = moveToPos( VecPosition( -50 , 0 ) , PS->getPlayerWhenToTurnAngle() );
      return primarySoc;
   }*/

  if( WM->getConfidence( OBJECT_BALL ) < PS->getBallConfThr() )
  {                                                // confidence ball too  low
    primarySoc =  searchBall();        // search ball
    cuncurrentSoc =  alignNeckWithBody( );
  }
  else if( WM->getPlayMode() == PM_PLAY_ON || WM->isFreeKickThem() ||
           WM->isCornerKickThem() )               
  {
    if( WM->isBallCatchable() )
    {
      primarySoc = catchBall();
      cuncurrentSoc = turnNeckToObject( OBJECT_BALL, primarySoc );
    }
     else if( WM->isBallKickable() )
    {
       primarySoc = kickTo( VecPosition(0,posAgent.getY()*2.0), 2.0 );
       cuncurrentSoc =  turnNeckToObject( OBJECT_BALL, primarySoc );
    }
    else if( WM->isInOwnPenaltyArea( getInterceptionPointBall( &i, true ) ) &&
             WM->getFastestInSetTo( OBJECT_SET_PLAYERS, OBJECT_BALL, &i ) == 
                                               WM->getAgentObjectType() )
    {
      primarySoc = intercept( true );
      cuncurrentSoc = turnNeckToObject( OBJECT_BALL, primarySoc );
    }
    else
    {
      // make line between own goal and the ball
      VecPosition posMyGoal = ( WM->getSide() == SIDE_LEFT )
             ? SoccerTypes::getGlobalPositionFlag(OBJECT_GOAL_L, SIDE_LEFT )
             : SoccerTypes::getGlobalPositionFlag(OBJECT_GOAL_R, SIDE_RIGHT);
      Line lineBall = Line::makeLineFromTwoPoints( WM->getBallPos(),posMyGoal);

      // determine where your front line intersects with the line from ball
      VecPosition posIntersect = lineFront.getIntersection( lineBall );

      // outside rectangle, use line at side to get intersection
      if (posIntersect.isRightOf( posRightTop ) )
        posIntersect = lineRight.getIntersection( lineBall );
      else if (posIntersect.isLeftOf( posLeftTop )  )
        posIntersect = lineLeft.getIntersection( lineBall );

      if( posIntersect.getX() < -49.0 )
        posIntersect.setX( -49.0 );
        
      // and move to this position
      if( posIntersect.getDistanceTo( WM->getAgentGlobalPosition() ) > 0.5 )
      {
        primarySoc = moveToPos( posIntersect, PS->getPlayerWhenToTurnAngle() );
        cuncurrentSoc = turnNeckToObject( OBJECT_BALL, primarySoc );
      }
      else
      {
        primarySoc = turnBodyToObject( OBJECT_BALL );
        cuncurrentSoc = turnNeckToObject( OBJECT_BALL, primarySoc );
      }
    }
  }
  else if( WM->isFreeKickUs() == true || WM->isGoalKickUs() == true )
  {
    if( WM->isBallKickable() )
    {
      if( WM->getTimeSinceLastCatch() == 25 && WM->isFreeKickUs() )
      {
        // move to position with lesser opponents.
        if( WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, 
                                          Circle(posRightTop, 15.0 )) <
            WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, 
                                           Circle(posLeftTop,  15.0 )) )
          primarySoc.makeCommand( CMD_MOVE,posRightTop.getX()
                                  ,posRightTop.getY(),0.0);
        else
               primarySoc.makeCommand( CMD_MOVE,posLeftTop.getX()
                                  ,posLeftTop.getY(), 0.0);

//Adapta��o da regra, o goleiro, analiza entre os teammates o mais confi�vel para tocar.
	
	/*v1= getSafetyToPass(WM->getGlobalPosition(OBJECT_TEAMMATE_1),WM->getGlobalPosition(OBJECT_TEAMMATE_2));
	bestPlayerToPass=OBJECT_TEAMMATE_2;
	v2= getSafetyToPass(WM->getGlobalPosition(OBJECT_TEAMMATE_1),WM->getGlobalPosition(OBJECT_TEAMMATE_3));
	if( v1 < v2 )
	{
		v1=v2;
		bestPlayerToPass=OBJECT_TEAMMATE_3;
	}
	v2= getSafetyToPass(WM->getGlobalPosition(OBJECT_TEAMMATE_1),WM->getGlobalPosition(OBJECT_TEAMMATE_4));
	if( v1 < v2 )
	{
		v1=v2;
		bestPlayerToPass=OBJECT_TEAMMATE_4;
	}
	v2 = getSafetyToPass(WM->getGlobalPosition(OBJECT_TEAMMATE_1),WM->getGlobalPosition(OBJECT_TEAMMATE_5));
	if( v1 < v2 )
	{
		v1=v2;
		bestPlayerToPass=OBJECT_TEAMMATE_5;
	}
	//Bugado...
	posgoleiro = (WM->getGlobalPosition(OBJECT_TEAMMATE_1).operator + (WM->getGlobalPosition(bestPlayerToPass))).operator /(2);*/
	//cout<<posgoleiro.getX()<<endl<<posgoleiro.getY()<<endl;
	//primarySoc.makeCommand(CMD_MOVE,posgoleiro.getX(),posgoleiro.getY(),0.0);
	}
      else if( WM->getTimeSinceLastCatch() > 28 )
      {
	//
        primarySoc = kickTo( VecPosition(0,posAgent.getY()*2.0), 2.0 );
	//primarySoc = kickTo( VecPosition((-WM->getGlobalPosition(bestPlayerToPass)).getX(),0) , 2.0 );
      }
      else if( WM->getTimeSinceLastCatch() < 25 )
      {
        VecPosition posSide( 0.0, posAgent.getY() ); 
        if( fabs( (posSide - posAgent).getDirection() - angBody) > 10 )
        {
          primarySoc = turnBodyToPoint( posSide );
        }
        cuncurrentSoc = turnNeckToObject( OBJECT_BALL, primarySoc );
      }
    }
    else if( WM->isGoalKickUs()  )
    {
      primarySoc = intercept( true );
      cuncurrentSoc =  turnNeckToObject( OBJECT_BALL, primarySoc );
    }
    else
      cuncurrentSoc = turnNeckToObject( OBJECT_BALL, primarySoc );
  }
  else
  {
     primarySoc = turnBodyToObject( OBJECT_BALL );
     cuncurrentSoc = turnNeckToObject( OBJECT_BALL, primarySoc );
  }
  return primarySoc;

}

SoccerCommand GoalieBehavior::cuncurrentAction()
{
   return cuncurrentSoc;
}

void GoalieBehavior::setFormations(Formations* _fs)
{
   formations = _fs;
}