formation.c

足球机器人仿真组CMU97的源码

    PreferenceList[3] = (LocationSide == RIGHT) ? f442_RIGHT_MIDFIELD :f442_LEFT_MIDFIELD;
    PreferenceList[4] = (LocationSide == RIGHT) ? f442_LEFT_MIDFIELD :f442_RIGHT_MIDFIELD;
    break;
  case f442_RIGHT_MIDFIELD:
  case f442_LEFT_MIDFIELD:
    NumOptions = 4;
    PreferenceList[0] = (LocationSide == RIGHT) ? f442_RIGHT_WING : f442_LEFT_WING;
    PreferenceList[1] = f442_OFFENSIVE_CENTER_MIDFIELD;
    PreferenceList[2] = (LocationSide == RIGHT) ? f442_LEFT_WING : f442_RIGHT_WING;
    PreferenceList[3] = f442_DEFENSIVE_CENTER_MIDFIELD;
    break;
  case f442_CENTER_DEFENSE:    
    NumOptions = 4;
    PreferenceList[0] = (LocationSide == RIGHT) ? f442_RIGHT_MIDFIELD : f442_LEFT_MIDFIELD;
    PreferenceList[1] = (LocationSide == RIGHT) ? f442_LEFT_MIDFIELD : f442_RIGHT_MIDFIELD;
    PreferenceList[2] = f442_OFFENSIVE_CENTER_MIDFIELD;
    PreferenceList[3] = f442_DEFENSIVE_CENTER_MIDFIELD;
    break;
  case f442_RIGHT_DEFENSE:
  case f442_LEFT_DEFENSE:
    NumOptions = 4;
    PreferenceList[0] = (LocationSide == RIGHT) ? f442_RIGHT_MIDFIELD : f442_LEFT_MIDFIELD;
    PreferenceList[1] = (LocationSide == RIGHT) ? f442_RIGHT_WING : f442_LEFT_WING;
    PreferenceList[2] = f442_OFFENSIVE_CENTER_MIDFIELD;
    PreferenceList[3] = f442_DEFENSIVE_CENTER_MIDFIELD;
    break;
  case f442_SWEEPER:
  case f442_GOALIE:
    NumOptions = 8;
    PreferenceList[0] = (LocationSide == RIGHT) ? f442_RIGHT_DEFENSE : f442_LEFT_DEFENSE;
    PreferenceList[1] = (LocationSide == RIGHT) ? f442_LEFT_DEFENSE : f442_RIGHT_DEFENSE;
    PreferenceList[2] = (LocationSide == RIGHT) ? f442_RIGHT_MIDFIELD : f442_LEFT_MIDFIELD;
    PreferenceList[3] = (LocationSide == RIGHT) ? f442_LEFT_MIDFIELD : f442_RIGHT_MIDFIELD;
    PreferenceList[4] = f442_OFFENSIVE_CENTER_MIDFIELD;
    PreferenceList[5] = f442_DEFENSIVE_CENTER_MIDFIELD;
    PreferenceList[6] = (LocationSide == RIGHT) ? f442_RIGHT_WING : f442_LEFT_WING;
    PreferenceList[7] = (LocationSide == RIGHT) ? f442_LEFT_WING : f442_RIGHT_WING;
    break;
  }	

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


/************************ 3-5-2 Formation ********************************/

#define f352_GOALIE_BUF      2
#define f352_POSITION_BUF    3

#define f352_GOALTENDERX  (-52)
#define f352_SWEEPERX     (-43)
#define f352_DEFENDERX    (-35)
#define f352_MIDFIELDERX     0
#define f352_FORWARDX       30
#define f352_LEFTY          30 /*25*/
#define f352_INSIDELEFTY    15
#define f352_CENTERY         0
#define f352_INSIDERIGHTY (-f352_INSIDELEFTY)
#define f352_RIGHTY       (-f352_LEFTY)

#define f352_HOMEXRANGE f352_FORWARDX
#define f352_HOMEYRANGE f352_LEFTY
#define f352_MAXXRANGE  (f352_FORWARDX*2)
#define f352_MAXYRANGE  (((Y0+5) - f352_LEFTY)*2)
#define f352_INSIDE_MAXYRANGE (((Y0+5) - f352_INSIDELEFTY)*2)

void Initialize_352_Formation(Formation *formation){
  
  /* set position within goal stay, in penalty box      */
  formation->SetPosition(f352_GOALIE, f352_GOALTENDERX, f352_CENTERY, f352_GOALIE_BUF, 
			 (X0- (-f352_GOALTENDERX))*2, GOAL_WIDTH, 
			 /*(-f352_GOALTENDERX - PA_X)*2, PA_Y*2, */
			 (X0- (-f352_GOALTENDERX))*2, GOAL_WIDTH, 
			 GOALIEMAXACTIVEDIST, MININACTIVEDIST, FALSE);  

  /* set position inside penalty box, don't go more than half-way to mid  */
  formation->SetPosition(f352_SWEEPER, f352_SWEEPERX, f352_CENTERY, f352_POSITION_BUF, 
			 (X0- (-f352_SWEEPERX))*2, PA_Y*2,         
			 -f352_SWEEPERX - X0/2, (Y0+5)*2,
			 GOALIEMAXACTIVEDIST, MININACTIVEDIST, TRUE);  

  formation->SetPosition(f352_RIGHT_DEFENSE, f352_DEFENDERX, f352_INSIDERIGHTY, f352_POSITION_BUF, 
			 f352_HOMEXRANGE,f352_HOMEYRANGE,
			 f352_MAXXRANGE ,f352_INSIDE_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f352_LEFT_DEFENSE, f352_DEFENDERX, f352_INSIDELEFTY, f352_POSITION_BUF, 
			 f352_HOMEXRANGE,f352_HOMEYRANGE,
			 f352_MAXXRANGE ,f352_INSIDE_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f352_RIGHT_OUTSIDE_MIDFIELD, f352_MIDFIELDERX, f352_RIGHTY, f352_POSITION_BUF, 
			 f352_HOMEXRANGE,f352_HOMEYRANGE,
			 (X0+5)*2,f352_MAXYRANGE, /* can go whole length of field */
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE); 

  formation->SetPosition(f352_RIGHT_INSIDE_MIDFIELD, f352_MIDFIELDERX-10, f352_INSIDERIGHTY, f352_POSITION_BUF, 
			 f352_HOMEXRANGE,f352_HOMEYRANGE,
			 f352_MAXXRANGE ,f352_INSIDE_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f352_CENTER_MIDFIELD, f352_MIDFIELDERX+9, f352_CENTERY, f352_POSITION_BUF, 
			 f352_HOMEXRANGE,f352_HOMEYRANGE,
			 f352_MAXXRANGE ,f352_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f352_LEFT_INSIDE_MIDFIELD, f352_MIDFIELDERX-10, f352_INSIDELEFTY, f352_POSITION_BUF, 
			 f352_HOMEXRANGE,f352_HOMEYRANGE,
			 f352_MAXXRANGE ,f352_INSIDE_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f352_LEFT_OUTSIDE_MIDFIELD, f352_MIDFIELDERX, f352_LEFTY, f352_POSITION_BUF, 
			 f352_HOMEXRANGE,f352_HOMEYRANGE,
			 (X0+5)*2, f352_MAXYRANGE, /* can go whole length of field */
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE); 
  
  formation->SetPosition(f352_RIGHT_WING, f352_FORWARDX, f352_INSIDERIGHTY, f352_POSITION_BUF, 
			 f352_HOMEXRANGE,f352_HOMEYRANGE,
			 f352_MAXXRANGE ,f352_INSIDE_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f352_LEFT_WING, f352_FORWARDX, f352_INSIDELEFTY, f352_POSITION_BUF, 
			 f352_HOMEXRANGE,f352_HOMEYRANGE,
			 f352_MAXXRANGE ,f352_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);

  int defenders[4] = {f352_GOALIE, f352_SWEEPER, f352_RIGHT_DEFENSE, f352_LEFT_DEFENSE};
  formation->GetUnit(DEFENSIVE_UNIT)->InitializeUnit(DEFENSIVE_UNIT, 4, defenders, 0);

  int midfielders[5] = {f352_CENTER_MIDFIELD, 
			f352_RIGHT_OUTSIDE_MIDFIELD, f352_LEFT_OUTSIDE_MIDFIELD,
			f352_RIGHT_INSIDE_MIDFIELD, f352_LEFT_INSIDE_MIDFIELD};
  formation->GetUnit(MIDFIELD_UNIT)->InitializeUnit(MIDFIELD_UNIT, 5, midfielders, 0);

  int forwards[2] = {f352_RIGHT_WING, f352_LEFT_WING};
  formation->GetUnit(FORWARD_UNIT)->InitializeUnit(FORWARD_UNIT, 2, forwards, 0);

  int rights[3] = {f352_RIGHT_DEFENSE, f352_RIGHT_OUTSIDE_MIDFIELD, f352_RIGHT_WING};
  formation->GetUnit(RIGHT_UNIT)->InitializeUnit(RIGHT_UNIT, 3, rights, 1);

  int centers[5] = {f352_GOALIE, f352_SWEEPER, 
		    f352_CENTER_MIDFIELD, f352_RIGHT_INSIDE_MIDFIELD, 
		    f352_LEFT_INSIDE_MIDFIELD};
  formation->GetUnit(CENTER_UNIT)->InitializeUnit(CENTER_UNIT, 5, centers, 2);

  int lefts[3] = {f352_LEFT_DEFENSE, f352_LEFT_OUTSIDE_MIDFIELD, f352_LEFT_WING};
  formation->GetUnit(LEFT_UNIT)->InitializeUnit(LEFT_UNIT, 3, lefts, 1);
}


int *Build_352_ReceiverList(int *PreferenceList, int position){

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

  switch ( position ){
  case f352_LEFT_WING:
    NumOptions = (int_random(3) ? 1 : 0); /* shoot 1 in 3 times */
    PreferenceList[0] = f352_RIGHT_WING; 
    break;
  case f352_RIGHT_WING:
    NumOptions = (int_random(3) ? 1 : 0); /* shoot 1 in 3 times */
    PreferenceList[0] = f352_LEFT_WING; 
    break;
  case f352_CENTER_MIDFIELD:
    NumOptions = 4;
    PreferenceList[0] = (LocationSide == RIGHT) ? f352_RIGHT_WING : f352_LEFT_WING;
    PreferenceList[1] = (LocationSide == RIGHT) ? f352_LEFT_WING : f352_RIGHT_WING;
    PreferenceList[2] = (LocationSide == RIGHT) ? f352_RIGHT_OUTSIDE_MIDFIELD : 
      f352_LEFT_OUTSIDE_MIDFIELD;
    PreferenceList[3] = (LocationSide == RIGHT) ? f352_LEFT_OUTSIDE_MIDFIELD : 
      f352_RIGHT_OUTSIDE_MIDFIELD;
    break;
  case f352_RIGHT_OUTSIDE_MIDFIELD:
  case f352_LEFT_OUTSIDE_MIDFIELD:
    NumOptions = 3;
    PreferenceList[0] = (LocationSide == RIGHT) ? f352_RIGHT_WING : f352_LEFT_WING;
    PreferenceList[1] = (LocationSide == RIGHT) ? f352_LEFT_WING : f352_RIGHT_WING; 
    PreferenceList[2] = f352_CENTER_MIDFIELD;
    break;
  case f352_RIGHT_INSIDE_MIDFIELD:
  case f352_LEFT_INSIDE_MIDFIELD:
    NumOptions = 6;
    PreferenceList[0] = (LocationSide == RIGHT) ? f352_RIGHT_WING : f352_LEFT_WING;
    PreferenceList[1] = (LocationSide == RIGHT) ? f352_RIGHT_OUTSIDE_MIDFIELD : 
      f352_LEFT_OUTSIDE_MIDFIELD;
    PreferenceList[2] = f352_CENTER_MIDFIELD;
    PreferenceList[3] = (LocationSide == RIGHT) ? f352_LEFT_WING : f352_RIGHT_WING;
    PreferenceList[4] = (LocationSide == RIGHT) ? f352_LEFT_OUTSIDE_MIDFIELD : 
      f352_RIGHT_OUTSIDE_MIDFIELD;
    PreferenceList[5] = (Side == RIGHT) ? f352_LEFT_INSIDE_MIDFIELD : 
      f352_RIGHT_INSIDE_MIDFIELD;
    break;
  case f352_RIGHT_DEFENSE:
  case f352_LEFT_DEFENSE:
  case f352_SWEEPER:
  case f352_GOALIE:
    NumOptions = 7;
    PreferenceList[0] = (LocationSide == RIGHT) ? f352_RIGHT_OUTSIDE_MIDFIELD : 
      f352_LEFT_OUTSIDE_MIDFIELD;
    PreferenceList[1] = (LocationSide == RIGHT) ? f352_RIGHT_INSIDE_MIDFIELD : 
      f352_LEFT_INSIDE_MIDFIELD;
    PreferenceList[2] = (LocationSide == RIGHT) ? f352_LEFT_OUTSIDE_MIDFIELD : 
      f352_RIGHT_OUTSIDE_MIDFIELD;
    PreferenceList[3] = (LocationSide == RIGHT) ? f352_LEFT_INSIDE_MIDFIELD : 
      f352_RIGHT_INSIDE_MIDFIELD;
    PreferenceList[4] = f352_CENTER_MIDFIELD;
    PreferenceList[5] = (LocationSide == RIGHT) ? f352_RIGHT_WING : f352_LEFT_WING;
    PreferenceList[6] = (LocationSide == RIGHT) ? f352_LEFT_WING : f352_RIGHT_WING;
    break;
  }	

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

/************************ 7-2 Formation ********************************/

#define f72_GOALIE_BUF      2
#define f72_POSITION_BUF    3

#define f72_GOALTENDERX  (-52)
#define f72_DEFENDERX    (-43)
#define f72_MIDFIELDERX  (-20)
#define f72_FORWARDX       17   /* > ROUGH_FORWARDX/2 so treated as a forward */
#define f72_LEFTY          25
#define f72_INSIDELEFTY    15
#define f72_CENTERY         0
#define f72_INSIDERIGHTY (-f72_INSIDELEFTY)
#define f72_RIGHTY       (-f72_LEFTY)

#define f72_HOMEXRANGE 15
#define f72_HOMEYRANGE f72_INSIDELEFTY
#define f72_MAXXRANGE  30
#define f72_MAXYRANGE  (((Y0+5) - f72_LEFTY)*2)
#define f72_INSIDE_MAXYRANGE (((Y0+5) - f72_INSIDELEFTY)*2)

void Initialize_72_Formation(Formation *formation){

  /* set position within goal stay, in penalty box      */
  formation->SetPosition(f72_RIGHT_GOALIE, f72_GOALTENDERX, f72_CENTERY-(GOAL_WIDTH/4), f72_GOALIE_BUF, 
			 (X0- (-f72_GOALTENDERX))*2, GOAL_WIDTH/2, 
			 /*(-f72_GOALTENDERX - PA_X)*2, PA_Y*2, */
			 (X0- (-f72_GOALTENDERX))*2, GOAL_WIDTH, 
			 GOALIEMAXACTIVEDIST, MININACTIVEDIST, FALSE);  

  formation->SetPosition(f72_LEFT_GOALIE, f72_GOALTENDERX, f72_CENTERY+(GOAL_WIDTH/4), f72_GOALIE_BUF, 
			 (X0- (-f72_GOALTENDERX))*2, GOAL_WIDTH/2, 
			 /*(-f72_GOALTENDERX - PA_X)*2, PA_Y*2, */
			 (X0- (-f72_GOALTENDERX))*2, GOAL_WIDTH, 
			 GOALIEMAXACTIVEDIST, MININACTIVEDIST, FALSE);  

  formation->SetPosition(f72_RIGHT_DEFENSE, f72_DEFENDERX, f72_INSIDERIGHTY, f72_POSITION_BUF, 
			 f72_HOMEXRANGE,f72_HOMEYRANGE,
			 f72_MAXXRANGE ,f72_INSIDE_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f72_CENTER_DEFENSE, f72_DEFENDERX+5, f72_CENTERY, f72_POSITION_BUF, 
			 f72_HOMEXRANGE,f72_HOMEYRANGE,
			 f72_MAXXRANGE ,f72_INSIDE_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f72_LEFT_DEFENSE, f72_DEFENDERX, f72_INSIDELEFTY, f72_POSITION_BUF, 
			 f72_HOMEXRANGE,f72_HOMEYRANGE,
			 f72_MAXXRANGE ,f72_INSIDE_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f72_RIGHT_OUTSIDE_MIDFIELD, f72_MIDFIELDERX, f72_RIGHTY, f72_POSITION_BUF, 
			 f72_HOMEXRANGE,f72_HOMEYRANGE,
			 f72_MAXXRANGE ,f72_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE); 

  formation->SetPosition(f72_RIGHT_INSIDE_MIDFIELD, f72_MIDFIELDERX-5, f72_INSIDERIGHTY+5, f72_POSITION_BUF, 
			 f72_HOMEXRANGE,f72_HOMEYRANGE,
			 f72_MAXXRANGE ,f72_INSIDE_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f72_LEFT_INSIDE_MIDFIELD, f72_MIDFIELDERX-5, f72_INSIDELEFTY-5, f72_POSITION_BUF, 
			 f72_HOMEXRANGE,f72_HOMEYRANGE,
			 f72_MAXXRANGE ,f72_INSIDE_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f72_LEFT_OUTSIDE_MIDFIELD, f72_MIDFIELDERX, f72_LEFTY, f72_POSITION_BUF, 
			 f72_HOMEXRANGE,f72_HOMEYRANGE,
			 f72_MAXXRANGE ,f72_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE); 
  
  formation->SetPosition(f72_RIGHT_WING, f72_FORWARDX, f72_INSIDERIGHTY, f72_POSITION_BUF, 
			 f72_HOMEXRANGE,f72_HOMEYRANGE,
			 f72_MAXXRANGE ,f72_INSIDE_MAXYRANGE, 
			 60, MININACTIVEDIST, TRUE);   /* Need to go to the corners */

  formation->SetPosition(f72_LEFT_WING, f72_FORWARDX, f72_INSIDELEFTY, f72_POSITION_BUF, 
			 f72_HOMEXRANGE,f72_HOMEYRANGE,
			 f72_MAXXRANGE ,f72_INSIDE_MAXYRANGE, 
			 60, MININACTIVEDIST, TRUE);   /* Need to go to the corners */

  /* 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);

  int defenders[9] = {f72_RIGHT_GOALIE, f72_LEFT_GOALIE, f72_RIGHT_DEFENSE, 
		      f72_CENTER_DEFENSE, f72_LEFT_DEFENSE, 
		      f72_RIGHT_INSIDE_MIDFIELD, f72_LEFT_INSIDE_MIDFIELD,
		      f72_RIGHT_OUTSIDE_MIDFIELD, f72_LEFT_OUTSIDE_MIDFIELD};
  formation->GetUnit(DEFENSIVE_UNIT)->InitializeUnit(DEFENSIVE_UNIT, 9, defenders, 0);

  int midfielders[4] = {f72_RIGHT_INSIDE_MIDFIELD, f72_LEFT_INSIDE_MIDFIELD,
			f72_RIGHT_OUTSIDE_MIDFIELD, f72_LEFT_OUTSIDE_MIDFIELD};
  formation->GetUnit(MIDFIELD_UNIT)->InitializeUnit(MIDFIELD_UNIT, 4, midfielders, 0);

  int forwards[2] = {f72_RIGHT_WING, f72_LEFT_WING};
  formation->GetUnit(FORWARD_UNIT)->InitializeUnit(FORWARD_UNIT, 2, forwards, 0);

  int rights[3] = {f72_RIGHT_DEFENSE, f72_RIGHT_OUTSIDE_MIDFIELD, f72_RIGHT_WING};
  formation->GetUnit(RIGHT_UNIT)->InitializeUnit(RIGHT_UNIT, 3, rights, 1);

  int centers[5] = {f72_RIGHT_GOALIE, f72_LEFT_GOALIE, 
		    f72_CENTER_DEFENSE,
		    f72_RIGHT_INSIDE_MIDFIELD, f72_LEFT_INSIDE_MIDFIELD};
  formation->GetUnit(CENTER_UNIT)->InitializeUnit(CENTER_UNIT, 5, centers, 3);