formation.c

足球机器人仿真组CMU97的源码

/* formation.c
 * CMUnited-97 (soccer client for Robocup-97)
 * Peter Stone <[e-mail]>
 * Computer Science Department
 * Carnegie Mellon University
 * Copyright (C) 1997 Peter Stone
 *
 * CMUnited-97 was created by Peter Stone and Manuela Veloso
 *
 * You may copy and distribute this program freely as long as you retain this notice.
 * If you make any changes or have any comments we would appreciate a message.
 */

#include "global.h"

#define MARK_DEBUG          0
#define TEAM_POSITION_DEBUG 0

/*************************************************************************/
/************************ FORMATION DEFINITIONS **************************/
/*************************************************************************/

#define GOALIEMAXACTIVEDIST 14
#define MAXACTIVEDIST       40
#define MININACTIVEDIST     10

/************************ 4-3-3 Formation ********************************/

#define f433_GOALIE_BUF      2
#define f433_POSITION_BUF    3

#define f433_GOALTENDERX  (-52)
#define f433_SWEEPERX     (-43)
#define f433_DEFENDERX    (-35)
#define f433_MIDFIELDERX     0
#define f433_FORWARDX       30
#define f433_LEFTY          25
#define f433_CENTERY         0
#define f433_RIGHTY       (-25)

#define f433_HOMEXRANGE f433_FORWARDX
#define f433_HOMEYRANGE f433_LEFTY
#define f433_MAXXRANGE  (f433_FORWARDX*2)
#define f433_MAXYRANGE  (((Y0+5) - f433_LEFTY)*2)

void Initialize_433_Formation(Formation *formation){
  
  /* set position within goal stay, in penalty box      */
  formation->SetPosition(f433_GOALIE, f433_GOALTENDERX, f433_CENTERY, f433_GOALIE_BUF, 
			 (X0- (-f433_GOALTENDERX))*2, GOAL_WIDTH,
			 /*(-f433_GOALTENDERX - PA_X)*2, PA_Y*2,*/
			 (X0- (-f433_GOALTENDERX))*2, GOAL_WIDTH,
			 GOALIEMAXACTIVEDIST, MININACTIVEDIST, FALSE);  

  /* set position inside penalty box, don't go more than half-way to mid  */
  formation->SetPosition(f433_SWEEPER, f433_SWEEPERX, f433_CENTERY, f433_POSITION_BUF, 
			 (X0- (-f433_SWEEPERX))*2, PA_Y*2,        
			 -f433_SWEEPERX - X0/2, (Y0+5)*2,
			 GOALIEMAXACTIVEDIST, MININACTIVEDIST, TRUE);           

  formation->SetPosition(f433_RIGHT_DEFENSE, f433_DEFENDERX, f433_RIGHTY, f433_POSITION_BUF, 
			 f433_HOMEXRANGE,f433_HOMEYRANGE,
			 f433_MAXXRANGE ,f433_MAXYRANGE,
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f433_CENTER_DEFENSE, f433_DEFENDERX+5, f433_CENTERY, f433_POSITION_BUF, 
			 f433_HOMEXRANGE,f433_HOMEYRANGE,
			 f433_MAXXRANGE ,f433_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f433_LEFT_DEFENSE, f433_DEFENDERX, f433_LEFTY, f433_POSITION_BUF, 
			 f433_HOMEXRANGE,f433_HOMEYRANGE,
			 f433_MAXXRANGE ,f433_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f433_RIGHT_MIDFIELD, f433_MIDFIELDERX, f433_RIGHTY, f433_POSITION_BUF, 
			 f433_HOMEXRANGE,f433_HOMEYRANGE,
			 f433_MAXXRANGE ,f433_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f433_CENTER_MIDFIELD, f433_MIDFIELDERX, f433_CENTERY, f433_POSITION_BUF, 
			 f433_HOMEXRANGE,f433_HOMEYRANGE,
			 f433_MAXXRANGE ,f433_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f433_LEFT_MIDFIELD, f433_MIDFIELDERX, f433_LEFTY, f433_POSITION_BUF, 
			 f433_HOMEXRANGE,f433_HOMEYRANGE,
			 f433_MAXXRANGE ,f433_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);
  
  formation->SetPosition(f433_RIGHT_WING, f433_FORWARDX, f433_RIGHTY, f433_POSITION_BUF, 
			 f433_HOMEXRANGE,f433_HOMEYRANGE,
			 f433_MAXXRANGE ,f433_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f433_CENTER_FORWARD, f433_FORWARDX+5, f433_CENTERY, f433_POSITION_BUF, 
			 f433_HOMEXRANGE,f433_HOMEYRANGE,
			 f433_MAXXRANGE ,f433_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f433_LEFT_WING, f433_FORWARDX, f433_LEFTY, f433_POSITION_BUF, 
			 f433_HOMEXRANGE,f433_HOMEYRANGE,
			 f433_MAXXRANGE ,f433_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  /* Candidate receivers will be chosen on the fly here */
  int dummylist[TEAM_SIZE];
  for (int i=0; i<TEAM_SIZE; i++)
    formation->SetCandidateReceivers(i,0,dummylist);

  formation->AllocateUnits(6);

  /* Positions listed in order of importance, captain indicated as index into list */

  int defenders[5] = {f433_GOALIE, f433_SWEEPER,
		      f433_CENTER_DEFENSE, f433_RIGHT_DEFENSE, f433_LEFT_DEFENSE};
  formation->GetUnit(DEFENSIVE_UNIT)->InitializeUnit(DEFENSIVE_UNIT, 5, defenders, 0);

  int midfielders[3] = {f433_CENTER_MIDFIELD, f433_RIGHT_MIDFIELD, f433_LEFT_MIDFIELD};
  formation->GetUnit(MIDFIELD_UNIT)->InitializeUnit(MIDFIELD_UNIT, 3, midfielders, 0);

  int forwards[3] = {f433_CENTER_FORWARD, f433_RIGHT_WING, f433_LEFT_WING};
  formation->GetUnit(FORWARD_UNIT)->InitializeUnit(FORWARD_UNIT, 3, forwards, 0);

  int rights[3] = {f433_RIGHT_DEFENSE, f433_RIGHT_MIDFIELD, f433_RIGHT_WING};
  formation->GetUnit(RIGHT_UNIT)->InitializeUnit(RIGHT_UNIT, 3, rights, 1);

  int centers[5] = {f433_GOALIE, f433_SWEEPER, f433_CENTER_DEFENSE, 
		    f433_CENTER_MIDFIELD, f433_CENTER_FORWARD};
  formation->GetUnit(CENTER_UNIT)->InitializeUnit(CENTER_UNIT, 5, centers, 3);

  int lefts[3] = {f433_LEFT_DEFENSE, f433_LEFT_MIDFIELD, f433_LEFT_WING};
  formation->GetUnit(LEFT_UNIT)->InitializeUnit(LEFT_UNIT, 3, lefts, 1);
}


int *Build_433_ReceiverList(int *PreferenceList, int position){

  int NumOptions=0;
  
  int LocationSide = Mem->GetMyLocationSide();

  switch ( position ){
  case f433_CENTER_FORWARD: break;
  case f433_LEFT_WING:
  case f433_RIGHT_WING:
    NumOptions = (int_random(3) ? 1 : 0); /* shoot 1 in 3 times */
    PreferenceList[0] = f433_CENTER_FORWARD; 
    break;
  case f433_CENTER_MIDFIELD:
    NumOptions = 5;
    PreferenceList[0] = (LocationSide == RIGHT) ? f433_RIGHT_WING : f433_LEFT_WING;
    PreferenceList[1] = (LocationSide == RIGHT) ? f433_LEFT_WING : f433_RIGHT_WING;
    PreferenceList[2] = f433_CENTER_FORWARD;
    PreferenceList[3] = (LocationSide == RIGHT) ? f433_RIGHT_MIDFIELD :f433_LEFT_MIDFIELD;
    PreferenceList[4] = (LocationSide == RIGHT) ? f433_LEFT_MIDFIELD :f433_RIGHT_MIDFIELD;
    break;
  case f433_RIGHT_MIDFIELD:
  case f433_LEFT_MIDFIELD:
    NumOptions = 4;
    PreferenceList[0] = f433_CENTER_FORWARD;
    PreferenceList[1] = f433_CENTER_MIDFIELD;
    PreferenceList[2] = (LocationSide == RIGHT) ? f433_RIGHT_WING : f433_LEFT_WING;
    PreferenceList[3] = (LocationSide == RIGHT) ? f433_LEFT_WING : f433_RIGHT_WING;
    break;
  case f433_CENTER_DEFENSE:    
    NumOptions = 3;
    PreferenceList[0] = (LocationSide == RIGHT) ? f433_RIGHT_MIDFIELD : f433_LEFT_MIDFIELD;
    PreferenceList[1] = (LocationSide == RIGHT) ? f433_LEFT_MIDFIELD : f433_RIGHT_MIDFIELD;
    PreferenceList[2] = f433_CENTER_MIDFIELD;
    break;
  case f433_RIGHT_DEFENSE:
  case f433_LEFT_DEFENSE:
    NumOptions = 3;
    PreferenceList[0] = (LocationSide == RIGHT) ? f433_RIGHT_MIDFIELD : f433_LEFT_MIDFIELD;
    PreferenceList[1] = (LocationSide == RIGHT) ? f433_RIGHT_WING : f433_LEFT_WING;
    PreferenceList[2] = f433_CENTER_MIDFIELD;
    break;
  case f433_SWEEPER:
  case f433_GOALIE:
    NumOptions = 7;
    PreferenceList[0] = (LocationSide == RIGHT) ? f433_RIGHT_DEFENSE : f433_LEFT_DEFENSE;
    PreferenceList[1] = (LocationSide == RIGHT) ? f433_LEFT_DEFENSE : f433_RIGHT_DEFENSE;
    PreferenceList[2] = (LocationSide == RIGHT) ? f433_RIGHT_MIDFIELD : f433_LEFT_MIDFIELD;
    PreferenceList[3] = (LocationSide == RIGHT) ? f433_LEFT_MIDFIELD : f433_RIGHT_MIDFIELD;
    PreferenceList[4] = f433_CENTER_MIDFIELD;
    PreferenceList[5] = (LocationSide == RIGHT) ? f433_RIGHT_WING : f433_LEFT_WING;
    PreferenceList[6] = (LocationSide == RIGHT) ? f433_LEFT_WING : f433_RIGHT_WING;
    break;
  }	

  for (int i = NumOptions; i<TEAM_SIZE; i++)
    PreferenceList[i] = position;  /* Pad list with own number, meaning no receiver */
}


/************************ 4-4-2 Formation ********************************/

#define f442_GOALIE_BUF      2
#define f442_POSITION_BUF    3

#define f442_GOALTENDERX  (-52)
#define f442_SWEEPERX     (-43)
#define f442_DEFENDERX    (-35)
#define f442_MIDFIELDERX     0
#define f442_FORWARDX       30
#define f442_LEFTY          25
#define f442_INSIDELEFTY    15
#define f442_CENTERY         0
#define f442_INSIDERIGHTY (-f442_INSIDELEFTY)
#define f442_RIGHTY       (-f442_LEFTY)

#define f442_HOMEXRANGE f442_FORWARDX
#define f442_HOMEYRANGE f442_LEFTY
#define f442_MAXXRANGE  (f442_FORWARDX*2)
#define f442_MAXYRANGE  (((Y0+5) - f442_LEFTY)*2)
#define f442_INSIDE_MAXYRANGE (((Y0+5) - f442_INSIDELEFTY)*2)


void Initialize_442_Formation(Formation *formation){
  
  /* set position within goal stay, in penalty box      */
  formation->SetPosition(f442_GOALIE, f442_GOALTENDERX, f442_CENTERY, f442_GOALIE_BUF, 
			 (X0- (-f442_GOALTENDERX))*2, GOAL_WIDTH,
			 /*(-f442_GOALTENDERX - PA_X)*2, PA_Y*2,*/
			 (X0- (-f442_GOALTENDERX))*2, GOAL_WIDTH,
			 GOALIEMAXACTIVEDIST, MININACTIVEDIST, FALSE);  

  /* set position inside penalty box, don't go more than half-way to mid  */
  formation->SetPosition(f442_SWEEPER, f442_SWEEPERX, f442_CENTERY, f442_POSITION_BUF, 
			 (X0- (-f442_SWEEPERX))*2, PA_Y*2,        
			 -f442_SWEEPERX - X0/2, (Y0+5)*2,
			 GOALIEMAXACTIVEDIST, MININACTIVEDIST, TRUE);           

  formation->SetPosition(f442_RIGHT_DEFENSE, f442_DEFENDERX, f442_RIGHTY, f442_POSITION_BUF, 
			 f442_HOMEXRANGE,f442_HOMEYRANGE,
			 f442_MAXXRANGE ,f442_MAXYRANGE,
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f442_CENTER_DEFENSE, f442_DEFENDERX+5, f442_CENTERY, f442_POSITION_BUF, 
			 f442_HOMEXRANGE,f442_HOMEYRANGE,
			 f442_MAXXRANGE ,f442_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f442_LEFT_DEFENSE, f442_DEFENDERX, f442_LEFTY, f442_POSITION_BUF, 
			 f442_HOMEXRANGE,f442_HOMEYRANGE,
			 f442_MAXXRANGE ,f442_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f442_RIGHT_MIDFIELD, f442_MIDFIELDERX, f442_RIGHTY, f442_POSITION_BUF, 
			 f442_HOMEXRANGE,f442_HOMEYRANGE,
			 f442_MAXXRANGE ,f442_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f442_DEFENSIVE_CENTER_MIDFIELD, f442_MIDFIELDERX-10, f442_CENTERY, f442_POSITION_BUF, 
			 f442_HOMEXRANGE,f442_HOMEYRANGE,
			 f442_MAXXRANGE ,f442_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f442_OFFENSIVE_CENTER_MIDFIELD, f442_MIDFIELDERX+10, f442_CENTERY, f442_POSITION_BUF, 
			 f442_HOMEXRANGE,f442_HOMEYRANGE,
			 f442_MAXXRANGE ,f442_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f442_LEFT_MIDFIELD, f442_MIDFIELDERX, f442_LEFTY, f442_POSITION_BUF, 
			 f442_HOMEXRANGE,f442_HOMEYRANGE,
			 f442_MAXXRANGE ,f442_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);
  
  formation->SetPosition(f442_RIGHT_WING, f442_FORWARDX, f442_INSIDERIGHTY, f442_POSITION_BUF, 
			 f442_HOMEXRANGE,f442_HOMEYRANGE,
			 f442_MAXXRANGE ,f442_INSIDE_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f442_LEFT_WING, f442_FORWARDX, f442_INSIDELEFTY, f442_POSITION_BUF, 
			 f442_HOMEXRANGE,f442_HOMEYRANGE,
			 f442_MAXXRANGE ,f442_INSIDE_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  /* Candidate receivers will be chosen on the fly here */
  int dummylist[TEAM_SIZE];
  for (int i=0; i<TEAM_SIZE; i++)
    formation->SetCandidateReceivers(i,0,dummylist);

  formation->AllocateUnits(6);

  /* Positions listed in order of importance, captain indicated as index into list */

  int defenders[5] = {f442_GOALIE, f442_SWEEPER,
		      f442_CENTER_DEFENSE, f442_RIGHT_DEFENSE, f442_LEFT_DEFENSE};
  formation->GetUnit(DEFENSIVE_UNIT)->InitializeUnit(DEFENSIVE_UNIT, 5, defenders, 0);

  int midfielders[4] = {f442_DEFENSIVE_CENTER_MIDFIELD, f442_OFFENSIVE_CENTER_MIDFIELD,
			f442_RIGHT_MIDFIELD, f442_LEFT_MIDFIELD};
  formation->GetUnit(MIDFIELD_UNIT)->InitializeUnit(MIDFIELD_UNIT, 4, midfielders, 0);

  int forwards[2] = {f442_RIGHT_WING, f442_LEFT_WING};
  formation->GetUnit(FORWARD_UNIT)->InitializeUnit(FORWARD_UNIT, 2, forwards, 0);

  int rights[3] = {f442_RIGHT_DEFENSE, f442_RIGHT_MIDFIELD, f442_RIGHT_WING};
  formation->GetUnit(RIGHT_UNIT)->InitializeUnit(RIGHT_UNIT, 3, rights, 1);

  int centers[5] = {f442_GOALIE, f442_SWEEPER, f442_CENTER_DEFENSE, 
		    f442_DEFENSIVE_CENTER_MIDFIELD, f442_OFFENSIVE_CENTER_MIDFIELD};
  formation->GetUnit(CENTER_UNIT)->InitializeUnit(CENTER_UNIT, 5, centers, 4);

  int lefts[3] = {f442_LEFT_DEFENSE, f442_LEFT_MIDFIELD, f442_LEFT_WING};
  formation->GetUnit(LEFT_UNIT)->InitializeUnit(LEFT_UNIT, 3, lefts, 1);
}


int *Build_442_ReceiverList(int *PreferenceList, int position){

  int NumOptions=0;
  
  int Side = Mem->GetMyPositionSide();
  int LocationSide = Mem->GetMyLocationSide();

  switch ( position ){
  case f442_LEFT_WING:
  case f442_RIGHT_WING:
    NumOptions = (int_random(3) ? 1 : 0); /* shoot 1 in 3 times */
    PreferenceList[0] =  (Side == RIGHT) ? f442_LEFT_WING : f442_RIGHT_WING;
    break;
  case f442_OFFENSIVE_CENTER_MIDFIELD:
    NumOptions = 2;
    PreferenceList[0] = (LocationSide == RIGHT) ? f442_RIGHT_WING : f442_LEFT_WING;
    PreferenceList[1] = (LocationSide == RIGHT) ? f442_LEFT_WING : f442_RIGHT_WING;
    break;
  case f442_DEFENSIVE_CENTER_MIDFIELD:
    NumOptions = 5;
    PreferenceList[0] = (LocationSide == RIGHT) ? f442_RIGHT_WING : f442_LEFT_WING;
    PreferenceList[1] = (LocationSide == RIGHT) ? f442_LEFT_WING : f442_RIGHT_WING;
    PreferenceList[2] = f442_OFFENSIVE_CENTER_MIDFIELD;