formation.c

足球机器人仿真组CMU97的源码

  int lefts[3] = {f72_LEFT_DEFENSE, f72_LEFT_OUTSIDE_MIDFIELD, f72_LEFT_WING};
  formation->GetUnit(LEFT_UNIT)->InitializeUnit(LEFT_UNIT, 3, lefts, 1);
}

int *Build_72_ReceiverList(int *PreferenceList, int position){

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

  switch ( position ){
  case f72_LEFT_WING:
  case f72_RIGHT_WING:
    break;  /* shoot */
  case f72_RIGHT_OUTSIDE_MIDFIELD:
  case f72_LEFT_OUTSIDE_MIDFIELD:
  case f72_RIGHT_INSIDE_MIDFIELD:
  case f72_LEFT_INSIDE_MIDFIELD:
  case f72_RIGHT_DEFENSE:
  case f72_CENTER_DEFENSE:
  case f72_LEFT_DEFENSE:
    NumOptions = 2;
    PreferenceList[0] = (LocationSide == RIGHT) ? f72_RIGHT_WING : f72_LEFT_WING;
    PreferenceList[1] = (LocationSide == RIGHT) ? f72_LEFT_WING : f72_RIGHT_WING;
    break;
  case f72_RIGHT_GOALIE:
  case f72_LEFT_GOALIE:
    break; /* clear */
  }	

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

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

#define f334_GOALIE_BUF      2
#define f334_POSITION_BUF    3

#define f334_GOALTENDERX  (-52)
#define f334_SWEEPERX     (-43)
#define f334_DEFENDERX    (-35)
#define f334_MIDFIELDERX     0
#define f334_FORWARDX       30
#define f334_LEFTY          25
#define f334_INSIDELEFTY    15
#define f334_CENTERY         0
#define f334_INSIDERIGHTY (-f334_INSIDELEFTY)
#define f334_RIGHTY       (-f334_LEFTY)

#define f334_HOMEXRANGE f334_FORWARDX
#define f334_HOMEYRANGE f334_LEFTY
#define f334_MAXXRANGE  (f334_FORWARDX*2)
#define f334_MAXYRANGE  (((Y0+5) - f334_LEFTY)*2)
#define f334_INSIDE_MAXYRANGE (((Y0+5) - f334_INSIDELEFTY)*2)

void Initialize_334_Formation(Formation *formation){
  
  /* set position within goal stay, in penalty box      */
  formation->SetPosition(f334_GOALIE, f334_GOALTENDERX, f334_CENTERY, f334_GOALIE_BUF, 
			 (X0- (-f334_GOALTENDERX))*2, GOAL_WIDTH, 
			 /*(-f334_GOALTENDERX - PA_X)*2, PA_Y*2, */
			 (X0- (-f334_GOALTENDERX))*2, GOAL_WIDTH, 
			 GOALIEMAXACTIVEDIST, MININACTIVEDIST, FALSE);  

  /* set position inside penalty box, don't go more than half-way to mid  */
  formation->SetPosition(f334_SWEEPER, f334_SWEEPERX, f334_CENTERY, f334_POSITION_BUF, 
			 (X0- (-f334_SWEEPERX))*2, PA_Y*2,         
			 -f334_SWEEPERX - X0/2, (Y0+5)*2,
			 GOALIEMAXACTIVEDIST, MININACTIVEDIST, TRUE);  

  formation->SetPosition(f334_RIGHT_DEFENSE, f334_DEFENDERX, f334_INSIDERIGHTY, f334_POSITION_BUF, 
			 f334_HOMEXRANGE,f334_HOMEYRANGE,
			 f334_MAXXRANGE ,f334_INSIDE_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f334_LEFT_DEFENSE, f334_DEFENDERX, f334_INSIDELEFTY, f334_POSITION_BUF, 
			 f334_HOMEXRANGE,f334_HOMEYRANGE,
			 f334_MAXXRANGE ,f334_INSIDE_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f334_RIGHT_MIDFIELD, f334_MIDFIELDERX, f334_RIGHTY, f334_POSITION_BUF, 
			 f334_HOMEXRANGE,f334_HOMEYRANGE,
			 f334_MAXXRANGE ,f334_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f334_CENTER_MIDFIELD, f334_MIDFIELDERX, f334_CENTERY, f334_POSITION_BUF, 
			 f334_HOMEXRANGE,f334_HOMEYRANGE,
			 f334_MAXXRANGE ,f334_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f334_LEFT_MIDFIELD, f334_MIDFIELDERX, f334_LEFTY, f334_POSITION_BUF, 
			 f334_HOMEXRANGE,f334_HOMEYRANGE,
			 f334_MAXXRANGE ,f334_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);
  
  formation->SetPosition(f334_RIGHT_WING, f334_FORWARDX+5, f334_RIGHTY, f334_POSITION_BUF, 
			 f334_HOMEXRANGE,f334_HOMEYRANGE,
			 f334_MAXXRANGE ,f334_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f334_RIGHT_INSIDE_FORWARD, f334_FORWARDX, f334_CENTERY-10, f334_POSITION_BUF, 
			 f334_HOMEXRANGE,f334_HOMEYRANGE,
			 f334_MAXXRANGE ,f334_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f334_LEFT_INSIDE_FORWARD, f334_FORWARDX, f334_CENTERY+10, f334_POSITION_BUF, 
			 f334_HOMEXRANGE,f334_HOMEYRANGE,
			 f334_MAXXRANGE ,f334_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f334_LEFT_WING, f334_FORWARDX+5, f334_LEFTY, f334_POSITION_BUF, 
			 f334_HOMEXRANGE,f334_HOMEYRANGE,
			 f334_MAXXRANGE ,f334_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] = {f334_GOALIE, f334_SWEEPER, f334_RIGHT_DEFENSE, f334_LEFT_DEFENSE};
  formation->GetUnit(DEFENSIVE_UNIT)->InitializeUnit(DEFENSIVE_UNIT, 4, defenders, 0);

  int midfielders[3] = {f334_CENTER_MIDFIELD, 
			f334_RIGHT_MIDFIELD, f334_LEFT_MIDFIELD};
  formation->GetUnit(MIDFIELD_UNIT)->InitializeUnit(MIDFIELD_UNIT, 3, midfielders, 0);

  int forwards[4] = {f334_RIGHT_INSIDE_FORWARD, f334_LEFT_INSIDE_FORWARD,
		     f334_RIGHT_WING, f334_LEFT_WING};
  formation->GetUnit(FORWARD_UNIT)->InitializeUnit(FORWARD_UNIT, 4, forwards, 0);

  int rights[3] = {f334_RIGHT_DEFENSE, f334_RIGHT_MIDFIELD, f334_RIGHT_WING};
  formation->GetUnit(RIGHT_UNIT)->InitializeUnit(RIGHT_UNIT, 3, rights, 1);

  int centers[5] = {f334_GOALIE, f334_SWEEPER, 
		    f334_CENTER_MIDFIELD, f334_RIGHT_INSIDE_FORWARD, 
		    f334_LEFT_INSIDE_FORWARD};
  formation->GetUnit(CENTER_UNIT)->InitializeUnit(CENTER_UNIT, 5, centers, 2);

  int lefts[3] = {f334_LEFT_DEFENSE, f334_LEFT_MIDFIELD, f334_LEFT_WING};
  formation->GetUnit(LEFT_UNIT)->InitializeUnit(LEFT_UNIT, 3, lefts, 1);
}


int *Build_334_ReceiverList(int *PreferenceList, int position){

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

  switch ( position ){
  case f334_LEFT_INSIDE_FORWARD:
  case f334_RIGHT_INSIDE_FORWARD:
      break; /* shoot */
  case f334_LEFT_WING:
    NumOptions = (int_random(3) ? 3 : 0); /* shoot 1 in 3 times */
    PreferenceList[0] = f334_LEFT_INSIDE_FORWARD; 
    PreferenceList[1] = f334_RIGHT_INSIDE_FORWARD; 
    PreferenceList[2] = f334_RIGHT_WING; 
    break;
  case f334_RIGHT_WING:
    NumOptions = (int_random(3) ? 3 : 0); /* shoot 1 in 3 times */
    PreferenceList[0] = f334_RIGHT_INSIDE_FORWARD; 
    PreferenceList[1] = f334_LEFT_INSIDE_FORWARD; 
    PreferenceList[2] = f334_LEFT_WING; 
    break;
  case f334_CENTER_MIDFIELD:
    NumOptions = 6;
    PreferenceList[0] = (LocationSide == RIGHT) ? f334_RIGHT_WING : f334_LEFT_WING;
    PreferenceList[1] = (LocationSide == RIGHT) ? f334_LEFT_WING : f334_RIGHT_WING;
    PreferenceList[2] = (LocationSide == RIGHT) ? f334_RIGHT_INSIDE_FORWARD : 
      f334_LEFT_INSIDE_FORWARD;
    PreferenceList[3] = (LocationSide == RIGHT) ? f334_LEFT_INSIDE_FORWARD : 
      f334_RIGHT_INSIDE_FORWARD;
    PreferenceList[4] = (LocationSide == RIGHT) ? f334_RIGHT_MIDFIELD : 
      f334_LEFT_MIDFIELD;
    PreferenceList[5] = (LocationSide == RIGHT) ? f334_LEFT_MIDFIELD : 
      f334_RIGHT_MIDFIELD;
    break;
  case f334_RIGHT_MIDFIELD:
  case f334_LEFT_MIDFIELD:
    NumOptions = 5;
    PreferenceList[0] = (Side == RIGHT) ? f334_RIGHT_WING : f334_LEFT_WING;
    PreferenceList[1] = (Side == RIGHT) ? f334_RIGHT_INSIDE_FORWARD : 
      f334_LEFT_INSIDE_FORWARD;
    PreferenceList[2] = (Side == RIGHT) ? f334_LEFT_INSIDE_FORWARD :
      f334_RIGHT_INSIDE_FORWARD;
    PreferenceList[3] = f334_CENTER_MIDFIELD;
    PreferenceList[4] = (Side == RIGHT) ? f334_LEFT_WING : RIGHT_WING;
    break;
  case f334_RIGHT_DEFENSE:
  case f334_LEFT_DEFENSE:
  case f334_SWEEPER:
  case f334_GOALIE:
    NumOptions = 7;
    PreferenceList[0] = (LocationSide == RIGHT) ? f334_RIGHT_MIDFIELD : 
      f334_LEFT_MIDFIELD;
    PreferenceList[1] = (LocationSide == RIGHT) ? f334_RIGHT_WING : f334_LEFT_WING;
    PreferenceList[2] = (Side == RIGHT) ? f334_RIGHT_INSIDE_FORWARD : 
      f334_LEFT_INSIDE_FORWARD;
    PreferenceList[3] = f334_CENTER_MIDFIELD;
    PreferenceList[4] = (LocationSide == RIGHT) ? f334_LEFT_MIDFIELD : 
      f334_RIGHT_MIDFIELD;
    PreferenceList[5] = (Side == RIGHT) ? f334_LEFT_INSIDE_FORWARD :
      f334_RIGHT_INSIDE_FORWARD;
    PreferenceList[6] = (LocationSide == RIGHT) ? f334_LEFT_WING : f334_RIGHT_WING;
    break;
  }	

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


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

#define f244_GOALIE_BUF      2
#define f244_POSITION_BUF    3

#define f244_GOALTENDERX  (-52)
#define f244_SWEEPERX     (-43)
#define f244_DEFENDERX    (-35)
#define f244_MIDFIELDERX     0
#define f244_FORWARDX       30
#define f244_LEFTY          25
#define f244_INSIDELEFTY    15
#define f244_CENTERY         0
#define f244_INSIDERIGHTY (-f244_INSIDELEFTY)
#define f244_RIGHTY       (-f244_LEFTY)

#define f244_HOMEXRANGE f244_FORWARDX
#define f244_HOMEYRANGE f244_LEFTY
#define f244_MAXXRANGE  (f244_FORWARDX*2)
#define f244_MAXYRANGE  (((Y0+5) - f244_LEFTY)*2)
#define f244_INSIDE_MAXYRANGE (((Y0+5) - f244_INSIDELEFTY)*2)

void Initialize_244_Formation(Formation *formation){
  
  /* set position within goal stay, in penalty box      */
  formation->SetPosition(f244_GOALIE, f244_GOALTENDERX, f244_CENTERY, f244_GOALIE_BUF, 
			 (X0- (-f244_GOALTENDERX))*2, GOAL_WIDTH, 
			 /*(-f244_GOALTENDERX - PA_X)*2, PA_Y*2, */
			 (X0- (-f244_GOALTENDERX))*2, GOAL_WIDTH, 
			 GOALIEMAXACTIVEDIST, MININACTIVEDIST, FALSE);  

  formation->SetPosition(f244_RIGHT_DEFENSE, f244_DEFENDERX, f244_INSIDERIGHTY, f244_POSITION_BUF, 
			 f244_HOMEXRANGE,f244_HOMEYRANGE,
			 f244_MAXXRANGE ,f244_INSIDE_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f244_LEFT_DEFENSE, f244_DEFENDERX, f244_INSIDELEFTY, f244_POSITION_BUF, 
			 f244_HOMEXRANGE,f244_HOMEYRANGE,
			 f244_MAXXRANGE ,f244_INSIDE_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f244_RIGHT_MIDFIELD, f244_MIDFIELDERX, f244_RIGHTY, f244_POSITION_BUF, 
			 f244_HOMEXRANGE,f244_HOMEYRANGE,
			 f244_MAXXRANGE ,f244_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f244_DEFENSIVE_CENTER_MIDFIELD, f244_MIDFIELDERX-10, f244_CENTERY, f244_POSITION_BUF, 
			 f244_HOMEXRANGE,f244_HOMEYRANGE,
			 f244_MAXXRANGE ,f244_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f244_OFFENSIVE_CENTER_MIDFIELD, f244_MIDFIELDERX+10, f244_CENTERY, f244_POSITION_BUF, 
			 f244_HOMEXRANGE,f244_HOMEYRANGE,
			 f244_MAXXRANGE ,f244_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f244_LEFT_MIDFIELD, f244_MIDFIELDERX, f244_LEFTY, f244_POSITION_BUF, 
			 f244_HOMEXRANGE,f244_HOMEYRANGE,
			 f244_MAXXRANGE ,f244_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);
  
  formation->SetPosition(f244_RIGHT_WING, f244_FORWARDX+5, f244_RIGHTY, f244_POSITION_BUF, 
			 f244_HOMEXRANGE,f244_HOMEYRANGE,
			 f244_MAXXRANGE ,f244_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f244_RIGHT_INSIDE_FORWARD, f244_FORWARDX, f244_CENTERY-10, f244_POSITION_BUF, 
			 f244_HOMEXRANGE,f244_HOMEYRANGE,
			 f244_MAXXRANGE ,f244_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f244_LEFT_INSIDE_FORWARD, f244_FORWARDX, f244_CENTERY+10, f244_POSITION_BUF, 
			 f244_HOMEXRANGE,f244_HOMEYRANGE,
			 f244_MAXXRANGE ,f244_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f244_LEFT_WING, f244_FORWARDX+5, f244_LEFTY, f244_POSITION_BUF, 
			 f244_HOMEXRANGE,f244_HOMEYRANGE,
			 f244_MAXXRANGE ,f244_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[3] = {f244_GOALIE, f244_RIGHT_DEFENSE, f244_LEFT_DEFENSE};
  formation->GetUnit(DEFENSIVE_UNIT)->InitializeUnit(DEFENSIVE_UNIT, 3, defenders, 0);

  int midfielders[4] = {f244_DEFENSIVE_CENTER_MIDFIELD, f244_OFFENSIVE_CENTER_MIDFIELD,
			f244_RIGHT_MIDFIELD, f244_LEFT_MIDFIELD};
  formation->GetUnit(MIDFIELD_UNIT)->InitializeUnit(MIDFIELD_UNIT, 4, midfielders, 0);

  int forwards[4] = {f244_RIGHT_INSIDE_FORWARD, f244_LEFT_INSIDE_FORWARD,
		     f244_RIGHT_WING, f244_LEFT_WING};
  formation->GetUnit(FORWARD_UNIT)->InitializeUnit(FORWARD_UNIT, 4, forwards, 0);

  int rights[3] = {f244_RIGHT_DEFENSE, f244_RIGHT_MIDFIELD, f244_RIGHT_WING};
  formation->GetUnit(RIGHT_UNIT)->InitializeUnit(RIGHT_UNIT, 3, rights, 1);

  int centers[5] = {f244_GOALIE, 
		    f244_DEFENSIVE_CENTER_MIDFIELD, f244_OFFENSIVE_CENTER_MIDFIELD,
		    f244_RIGHT_INSIDE_FORWARD, f244_LEFT_INSIDE_FORWARD};
  formation->GetUnit(CENTER_UNIT)->InitializeUnit(CENTER_UNIT, 5, centers, 2);

  int lefts[3] = {f244_LEFT_DEFENSE, f244_LEFT_MIDFIELD, f244_LEFT_WING};
  formation->GetUnit(LEFT_UNIT)->InitializeUnit(LEFT_UNIT, 3, lefts, 1);
}


int *Build_244_ReceiverList(int *PreferenceList, int position){