uclass.pas

机器人足球赛比赛平台源代码

var i:integer;
begin
  for i:=0 to 4 do
  begin
{    apts^[i].no := i+1;
    apts^[i].team := 1;
    apts^[i].x := robots[2,i+1].x;
    apts^[i].y := robots[2,i+1].y;
    apts^[i].vx:= robots[2,i+1].vx;
    apts^[i].vy:= robots[2,i+1].vy;}
    apts^[i].no := i+1;
    apts^[i].team := 2;
    apts^[i].x := CFLDLEN - robots[2,i+1].x;
    apts^[i].y := CFLDWIDTH - robots[2,i+1].y;
    apts^[i].vx:= - robots[2,i+1].vx;
    apts^[i].vy:= - robots[2,i+1].vy;
  end;
end;


procedure TMatchField.InitMatch;
var i, j:integer;
    ir  :double;
begin
  //////////////////////////////////////////////////////////////////////////////
  ///                          初始化各个队员的状态                          ///
  //////////////////////////////////////////////////////////////////////////////
  for i:=1 to 2 do
   for j:=1 to CROBOTNUM do
     begin
       robots[i,j] := TRobot.Create(self);
       robots[i,j].team := i;                          {球队号码}
       robots[i,j].no := j;                            {号码}
       robots[i,j].x := RobotsPosition[j,1];           {绝对坐标}
       robots[i,j].y := RobotsPosition[j,2];           {绝对坐标}
       robots[i,j].preaction := 0;
       robots[i,j].param0 := 0;                        //设预设动作为Nokick
       robots[i,j].param1 := 0;
       robots[i,j].param2 := 0;
     end;
  //////////////////////////////////////////////////////////////////////////////
  ///                          初始化球的状态                                ///
  //////////////////////////////////////////////////////////////////////////////
//  ('init');
  ball.x := CFLDLEN div 2;
  ball.y := CFLDWIDTH div 2;
  ball.vy := 10;
  case lastGoalTeam of
  0:  begin
        ir := random;
        if ir-0.5<0 then
        begin
          ball.vx := 10;
          crt := 2;
          crn := 5;
        end
        else
        begin
          ball.vx := -10;
          crt := 1;
          crn := 5;
        end;
      end;
  1:  begin
        ball.vx := 10;
        crt := 2;
        crn := 5;
      end;
  2:  begin
        ball.vx := -10;
        crt := 1;
        crn := 5;
      end;
  end;
  ////////////////////////////////////////////////
  ///    改变比赛当前状态
  ////////////////////////////////////////////////
  iTFG := 0;
  iHMPETB := 0;

end;


{procedure TMatchField.playerEffectball;
var newvx, newvy : double;
    maxfandistence  : double;
    dists        : array [1..2, 1..CROBOTNUM] of double;
    i,j          : integer;
    backteamid   : integer;
    backno       : integer;
    sumfandistenc: double;  //二维数组的和，用于求取概率
    irandseed    : single;
label g1, g2;
begin
  backteamid := 1;
  backno :=1;
  maxfandistence := -1;
  for i:=1 to 2 do
    for j:=1 to CROBOTNUM do
      begin
        dists[i,j] := sqrt(sqr(ball.posx - robots[i,j].absolutex) + sqr(ball.posy - robots[i,j].absolutey));

        if dists[i,j] < CRADIUS then
          begin
            dists[i,j] := CRADIUS - dists[i,j];
            if dists[i,j] > maxfandistence then
              begin
                maxfandistence := dists[i,j];
                backno := j;
                backteamid := i;
              end;
          end else
            dists[i,j] := 0;
      end;
  ///////////////////////////////////////////////////////////////////////////
  //         如果maxfandistenc= -1 说明没有球和人之间没有小于半径的        //
  ///////////////////////////////////////////////////////////////////////////
  if maxfandistence <> -1 then
  begin
        inc(iHMPETB);
        sumfandistenc := 0;
        for i:=1 to 2 do
          for j:=1 to CROBOTNUM do
            begin
              sumfandistenc := sumfandistenc + dists[i,j];
            end;
        for i:=1 to 2 do
          for j:=1 to CROBOTNUM do
            begin
              dists[i,j] := dists[i,j] / sumfandistenc;
            end;

        if ball.speedmo > CVCANNOTBALL then
        begin
          crt := backteamid;
          crn := backno;
          ballcrashplayer(robots[backteamid,backno].absolutex, robots[backteamid,backno].absolutey, ball.posx, ball.posy, ball.vx, ball.vy, newvx, newvy);
          ball.vx := newvx;
          ball.vy := newvy;
          while (sqrt(sqr(robots[backteamid,backno].absolutex - ball.x) + sqr(robots[backteamid, backno].absolutey - ball.y )) < CRADIUS ) do
          begin
            ball.x := ball.posx + round(ball.vx);
            ball.y := ball.posy + round(ball.vy);
          end;
          exit;                           //////////////////////////return/////////////////////
        end
        else
        begin
           if (dists[1,1] <> 0) and (ifinPZ(1,ball.x, ball.y))
           then
           begin
             robots[1,1].doAction;
             while (sqrt(sqr(robots[1,1].absolutex - ball.x) + sqr(robots[1,1].absolutey - ball.y )) < CRADIUS ) do
             begin
                ball.x := ball.posx + round(ball.vx);
                ball.y := ball.posy + round(ball.vy);
             end;
             crt := 1;
             crn := 1;
             exit;           ////////////////////////如果在A队禁区并且A队守门员控球
           end;

           if (dists[2,1] <> 0) and (ifinPZ(2,ball.x, ball.y))
           then
           begin
             robots[2,1].doAction;
             while (sqrt(sqr(robots[2,1].absolutex - ball.x) + sqr(robots[2,1].absolutey - ball.y )) < CRADIUS ) do
             begin
                ball.x := ball.posx + round(ball.vx);
                ball.y := ball.posy + round(ball.vy);
             end;
             crt := 2;
             crn := 1;
             exit;           ////////////////////////如果在B队禁区并且B队守门员控球
           end;

          if ball.speedmo > CVCANBALL then
            begin
                   irandseed := random;
                   if irandseed < (ball.speedmo - CVCANBALL)/(CVCANNOTBALL - CVCANBALL) then
                   begin ///////////////橦到了球。
                        crt := backteamid;
                        crn := backno;
                        ballcrashplayer(robots[backteamid,backno].absolutex, robots[backteamid,backno].absolutey, ball.posx, ball.posy, ball.vx, ball.vy, newvx, newvy);
                        ball.vx := newvx;
                        ball.vy := newvy;
                        while (sqrt(sqr(robots[backteamid,backno].absolutex - ball.x) + sqr(robots[backteamid, backno].absolutey - ball.y )) < CRADIUS ) do
                        begin
                          ball.x := ball.posx + round(ball.vx);
                          ball.y := ball.posy + round(ball.vy);
                        end;

                        exit;             //////////////////////////return/////////////////////
                   end
                   else
                   begin ///////////////控球

                       irandseed := random;
                       sumfandistenc := 0;
                       for i:=1 to 2 do
                        for j:=1 to CROBOTNUM do
                         begin
                           sumfandistenc := sumfandistenc + dists[i,j];
                           if irandseed < sumfandistenc then
                             begin
                               crt := i;
                               crn := j;
                               robots[i,j].doAction;
                               while (sqrt(sqr(robots[i,j].absolutex - ball.x) + sqr(robots[i,j].absolutey - ball.y )) < CRADIUS ) do
                               begin
                                  ball.x := ball.posx + round(ball.vx);
                                  ball.y := ball.posy + round(ball.vy);
                               end;
                               exit;     //////////////////////////return/////////////////////
                             end;
                         end;
                   end;
            end else begin  ///////////////速度小于可以控球速度
                           irandseed := random;
                           sumfandistenc := 0;
                           for i:=1 to 2 do
                            for j:=1 to CROBOTNUM do
                             begin
                               sumfandistenc := sumfandistenc + dists[i,j];
                               if irandseed < sumfandistenc then
                                 begin
                                   crt := i;
                                   crn := j;
                                   robots[i,j].doAction;
                                   while (sqrt(sqr(robots[backteamid,backno].absolutex - ball.x) + sqr(robots[backteamid, backno].absolutey - ball.y )) < CRADIUS ) do
                                   begin
                                      ball.x := ball.posx + round(ball.vx);
                                      ball.y := ball.posy + round(ball.vy);
                                   end;
                                   exit;    //////////////////////////return/////////////////////
                                 end;
                             end;
                     end;
        end;
  end;
end;
}
procedure TMatchField.setfirstteamaction;
var myCMDS :TCMDS;
    i      :integer;
begin
  for i:=0 to 4 do
  begin
    myCMDS[i].ifresetmovement := 0;
    myCMDS[i].TargetX :=0;
    myCMDS[i].TargetY :=0;
    myCMDS[i].TargetV :=0;
    myCMDS[i].Preactiontype := 0;
    myCMDS[i].PreAparam0 := 0;
    myCMDS[i].PreAparam1 := 0;
    myCMDS[i].PreAparam2 := 0;
  end;

  uMain.setaction_first(@myCMDS);
  for i:=0 to 4 do
  begin
    if myCMDs[i].PreAparam0 > CMAXBALLV then
       myCMDs[i].PreAparam0 := CMAXBALLV;

    if myCMDs[i].PreAparam0 < CMINBALLV then
       myCMDs[i].PreAparam0 := CMINBALLV;

    if myCMDs[i].TargetV > CMAXV then
       myCMDs[i].TargetV := CMAXV;

    if myCMDS[i].ifresetmovement = 1 then
      begin
        robots[1,i+1].move(myCMDS[i].TargetX, myCMDS[i].TargetY, round(myCMDS[i].TargetV));
      end;
    robots[1,i+1].SetPreAction(myCMDS[i].Preactiontype, myCMDS[i].PreAparam0, myCMDS[i].PreAparam1, myCMDS[i].PreAparam2);
  end;
end;

procedure TMatchField.setsecondteamaction;
var myCMDS :TCMDS;
    i      :integer;
begin
  for i:=0 to 4 do
  begin
    myCMDS[i].ifresetmovement := 0;
    myCMDS[i].TargetX :=0;
    myCMDS[i].TargetY :=0;
    myCMDS[i].TargetV :=0;
    myCMDS[i].Preactiontype := 0;
    myCMDS[i].PreAparam0 := 0;
    myCMDS[i].PreAparam1 := 0;
    myCMDS[i].PreAparam2 := 0;
  end;

  uMain.setaction_second(@myCMDS);
//  showmessage(format('(5) parm0=%d parm1=%d, parm2=%d'+#13+#10+'(2) parm0=%d parm1=%d, parm2=%d',[myCMDS[4].preAparam0, myCMDS[4].preAparam1, myCMDs[4].preAparam2,myCMDS[1].preAparam0, myCMDS[1].preAparam1, myCMDs[1].preAparam2]));
  for i:=0 to 4 do
  begin
    if myCMDs[i].PreAparam0 > CMAXBALLV then
       myCMDs[i].PreAparam0 := CMAXBALLV;

    if myCMDs[i].PreAparam0 < CMINBALLV then
       myCMDs[i].PreAparam0 := CMINBALLV;

    if myCMDs[i].TargetV > CMAXV then
       myCMDs[i].TargetV := CMAXV;
//    showmessage(floattostr(myCMDs[i].PreAparam0));
    myCMDS[i].TargetX := myCMDS[i].TargetX;
    myCMDS[i].TargetY := myCMDS[i].TargetY;
    case myCMDS[i].Preactiontype of
      0:begin
          myCMDS[i].PreAparam0 := 0;
          myCMDS[i].PreAparam1 := 0;
          myCMDS[i].PreAparam2 := 0;
        end;
      1:begin
          myCMDS[i].PreAparam1 := CFLDLEN - myCMDS[i].PreAparam1;
          myCMDS[i].PreAparam2 := CFLDWIDTH - myCMDS[i].PreAparam2;
        end;
      2:begin
          myCMDS[i].PreAparam1 := - myCMDS[i].PreAparam1;
          myCMDS[i].PreAparam2 := - myCMDS[i].PreAparam2;
        end;
    end;
    if myCMDS[i].ifresetmovement = 1 then
      begin
        robots[2,i+1].move(myCMDS[i].TargetX, myCMDS[i].TargetY, round(myCMDS[i].TargetV));
      end;
    robots[2,i+1].SetPreAction(myCMDS[i].Preactiontype, myCMDS[i].PreAparam0, myCMDS[i].PreAparam1, myCMDS[i].PreAparam2);
  end;
end;

procedure TMatchField.TimeTip;
var bGoal :boolean;
    goalteam :integer;
    i, j  :integer;
begin
  bGoal := false;
  ball.doMove(bGoal, goalteam);
  if bGoal then
  begin
    if (Self.Scores[1]=0) and (Self.Scores[2]=0) then
       firstGoalTeam := goalteam;
    inc(Self.scores[goalteam]);
    lastGoalTeam := goalteam;
    InitMatch;
    UpdateScores;
  end;
  
  for i:=2 downto 1 do
    for j:=1 to 5 do
      begin
        robots[i,j].doMove;
      end;
  playerEffectball;
end;

procedure TMatchField.SecondGetBallState(apbs: PBS);
begin
  apbs^.x := CFLDLEN - ball.x;
  apbs^.y := CFLDWIDTH - ball.y;
  apbs^.vx := - ball.vx;
  apbs^.vy := - ball.vy;
  apbs^.crn:= crn;
  apbs^.crt:= crt;
end;

procedure TMatchField.SecondGetTeamAState(apts: PTS);
var i:integer;
begin
  for i:=0 to 4 do
  begin
{    apts^[i].no := i+1;
    apts^[i].team := 1;
    apts^[i].x := robots[1,i+1].x;
    apts^[i].y := robots[1,i+1].y;
    apts^[i].vx:= robots[1,i+1].vx;
    apts^[i].vy:= robots[1,i+1].vy;}
    apts^[i].no := i+1;
    apts^[i].team := 1;
    apts^[i].x := CFLDLEN - robots[1,i+1].x;
    apts^[i].y := CFLDWIDTH - robots[1,i+1].y;
    apts^[i].vx:= - robots[1,i+1].vx;
    apts^[i].vy:= - robots[1,i+1].vy;
  end;
end;

procedure TMatchField.SecondGetTeamBState(apts: PTS);
var i:integer;
begin
  for i:=0 to 4 do
  begin
    apts^[i].no := i+1;
    apts^[i].team := 2;
    apts^[i].x := robots[2,i+1].x;
    apts^[i].y := robots[2,i+1].y;
    apts^[i].vx:= robots[2,i+1].vx;
    apts^[i].vy:= robots[2,i+1].vy;
{    apts^[i].no := i+1;
    apts^[i].team := 2;
    apts^[i].x := CFLDLEN - robots[2,i+1].x;
    apts^[i].y := CFLDWIDTH - robots[2,i+1].y;
    apts^[i].vx:= -robots[2,i+1].vx;
    apts^[i].vy:= -robots[2,i+1].vy;}
  end;
end;

procedure TMatchField.UpdateScores;
begin
    uMain.Form1.Label1.Caption := inttostr(scores[1]);
    uMain.Form1.Label2.Caption := inttostr(scores[2]);
    uMain.Form1.Caption := format('%s %d -- %d %s',[uMain.Form1.Label3.Caption,scores[1],scores[2],uMain.Form1.Label4.Caption]);
end;

procedure TMatchField.playerEffectball;
var newvx, newvy : double;
    dists        : array [1..2, 1..CROBOTNUM] of double;
    mindist      : double;
    i, j         : integer;
    backteamid   : integer;
    backplayerid : integer;
    bThereIsPlayerCanEffectBall : boolean;
    iRandSeed    : double;
    fansumdist   : double;
    curfansum    : double;
    temp         : double;
label g1;
begin
  mindist := 100000;
  backteamid := 1;
  backplayerid := 1;
  fansumdist := 0;

  bThereIsPlayerCanEffectBall := false;
  for i:=1 to 2 do
    for j:=1 to CROBOTNUM do
      begin
//        if Robots[i,j].absolutey>2500 then
//         showmessage('!');