formation.c

足球机器人仿真组CMU97的源码

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

  switch ( position ){
  case f244_LEFT_INSIDE_FORWARD:
  case f244_RIGHT_INSIDE_FORWARD:
      break; /* shoot */
  case f244_LEFT_WING:
    NumOptions = (int_random(3) ? 3 : 0); /* shoot 1 in 3 times */
    PreferenceList[0] = f244_LEFT_INSIDE_FORWARD; 
    PreferenceList[1] = f244_RIGHT_INSIDE_FORWARD; 
    PreferenceList[2] = f244_RIGHT_WING; 
    break;
  case f244_RIGHT_WING:
    NumOptions = (int_random(3) ? 3 : 0); /* shoot 1 in 3 times */
    PreferenceList[0] = f244_RIGHT_INSIDE_FORWARD; 
    PreferenceList[1] = f244_LEFT_INSIDE_FORWARD; 
    PreferenceList[2] = f244_LEFT_WING; 
    break;
  case f244_OFFENSIVE_CENTER_MIDFIELD:
    NumOptions = 4;
    PreferenceList[0] = (LocationSide == RIGHT) ? f244_RIGHT_WING : f244_LEFT_WING;
    PreferenceList[1] = (LocationSide == RIGHT) ? f244_LEFT_WING : f244_RIGHT_WING;
    PreferenceList[2] = (LocationSide == RIGHT) ? f244_RIGHT_INSIDE_FORWARD : 
      f244_LEFT_INSIDE_FORWARD;
    PreferenceList[3] = (LocationSide == RIGHT) ? f244_LEFT_INSIDE_FORWARD : 
      f244_RIGHT_INSIDE_FORWARD;
    break;
  case f244_DEFENSIVE_CENTER_MIDFIELD:
    NumOptions = 7;
    PreferenceList[0] = (LocationSide == RIGHT) ? f244_RIGHT_WING : f244_LEFT_WING;
    PreferenceList[1] = (LocationSide == RIGHT) ? f244_LEFT_WING : f244_RIGHT_WING;
    PreferenceList[2] = (LocationSide == RIGHT) ? f244_RIGHT_INSIDE_FORWARD : 
      f244_LEFT_INSIDE_FORWARD;
    PreferenceList[3] = (LocationSide == RIGHT) ? f244_LEFT_INSIDE_FORWARD : 
      f244_RIGHT_INSIDE_FORWARD;
    PreferenceList[4] = f244_OFFENSIVE_CENTER_MIDFIELD;
    PreferenceList[5] = (LocationSide == RIGHT) ? f244_RIGHT_MIDFIELD :f244_LEFT_MIDFIELD;
    PreferenceList[6] = (LocationSide == RIGHT) ? f244_LEFT_MIDFIELD :f244_RIGHT_MIDFIELD;
    break;
  case f244_RIGHT_MIDFIELD:
  case f244_LEFT_MIDFIELD:
    NumOptions = 5;
    PreferenceList[0] = (Side == RIGHT) ? f244_RIGHT_WING : f244_LEFT_WING;
    PreferenceList[1] = (Side == RIGHT) ? f244_RIGHT_INSIDE_FORWARD : 
      f244_LEFT_INSIDE_FORWARD;
    PreferenceList[2] = (Side == RIGHT) ? f244_LEFT_INSIDE_FORWARD :
      f244_RIGHT_INSIDE_FORWARD;
    PreferenceList[3] = f244_OFFENSIVE_CENTER_MIDFIELD;
    PreferenceList[4] = (Side == RIGHT) ? f244_LEFT_WING : RIGHT_WING;
    break;
  case f244_RIGHT_DEFENSE:
  case f244_LEFT_DEFENSE:
  case f244_GOALIE:
    NumOptions = 7;
    PreferenceList[0] = (LocationSide == RIGHT) ? f244_RIGHT_MIDFIELD : 
      f244_LEFT_MIDFIELD;
    PreferenceList[1] = (LocationSide == RIGHT) ? f244_RIGHT_WING : f244_LEFT_WING;
    PreferenceList[2] = (Side == RIGHT) ? f244_RIGHT_INSIDE_FORWARD : 
      f244_LEFT_INSIDE_FORWARD;
    PreferenceList[3] = f244_OFFENSIVE_CENTER_MIDFIELD;
    PreferenceList[4] = (LocationSide == RIGHT) ? f244_LEFT_MIDFIELD : 
      f244_RIGHT_MIDFIELD;
    PreferenceList[5] = (Side == RIGHT) ? f244_LEFT_INSIDE_FORWARD :
      f244_RIGHT_INSIDE_FORWARD;
    PreferenceList[6] = (LocationSide == RIGHT) ? f244_LEFT_WING : f244_RIGHT_WING;
    break;
  }	

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

/************************ 4-3-2 Formation ********************************/

#define f432_GOALIE_BUF      2
#define f432_POSITION_BUF    3

#define f432_GOALTENDERX  (-52)
#define f432_SWEEPERX     (-43)
#define f432_DEFENDERX    (-35)
#define f432_MIDFIELDERX     0
#define f432_FORWARDX       30
#define f432_LEFTY          25
#define f432_INSIDELEFTY    15
#define f432_CENTERY         0
#define f432_INSIDERIGHTY (-f432_INSIDELEFTY)
#define f432_RIGHTY       (-f432_LEFTY)

#define f432_HOMEXRANGE f432_FORWARDX
#define f432_HOMEYRANGE f432_LEFTY
#define f432_MAXXRANGE  (f432_FORWARDX*2)
#define f432_MAXYRANGE  (((Y0+5) - f432_LEFTY)*2)
#define f432_INSIDE_MAXYRANGE (((Y0+5) - f432_INSIDELEFTY)*2)


void Initialize_432_Formation(Formation *formation){
  
  /* set position within goal stay, in penalty box      */
  formation->SetPosition(f432_RIGHT_GOALIE, f432_GOALTENDERX, f432_CENTERY-(GOAL_WIDTH/4), f432_GOALIE_BUF, 
			 (X0- (-f432_GOALTENDERX))*2, GOAL_WIDTH/2, 
			 /*(-f432_GOALTENDERX - PA_X)*2, PA_Y*2, */
			 (X0- (-f432_GOALTENDERX))*2, GOAL_WIDTH, 
			 GOALIEMAXACTIVEDIST, MININACTIVEDIST, FALSE);  

  formation->SetPosition(f432_LEFT_GOALIE, f432_GOALTENDERX, f432_CENTERY+(GOAL_WIDTH/4), f432_GOALIE_BUF, 
			 (X0- (-f432_GOALTENDERX))*2, GOAL_WIDTH/2, 
			 /*(-f432_GOALTENDERX - PA_X)*2, PA_Y*2, */
			 (X0- (-f432_GOALTENDERX))*2, GOAL_WIDTH, 
			 GOALIEMAXACTIVEDIST, MININACTIVEDIST, FALSE);  

  /* set position inside penalty box, don't go more than half-way to mid  */
  formation->SetPosition(f432_SWEEPER, f432_SWEEPERX, f432_CENTERY, f432_POSITION_BUF, 
			 (X0- (-f432_SWEEPERX))*2, PA_Y*2,        
			 -f432_SWEEPERX - X0/2, (Y0+5)*2,
			 GOALIEMAXACTIVEDIST, MININACTIVEDIST, TRUE);           

  formation->SetPosition(f432_RIGHT_DEFENSE, f432_DEFENDERX, f432_RIGHTY+13, f432_POSITION_BUF, 
			 f432_HOMEXRANGE,f432_HOMEYRANGE,
			 f432_MAXXRANGE ,f432_MAXYRANGE,
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f432_CENTER_DEFENSE, f432_DEFENDERX+5, f432_CENTERY, f432_POSITION_BUF, 
			 f432_HOMEXRANGE,f432_HOMEYRANGE,
			 f432_MAXXRANGE ,f432_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f432_LEFT_DEFENSE, f432_DEFENDERX, f432_LEFTY-13, f432_POSITION_BUF, 
			 f432_HOMEXRANGE,f432_HOMEYRANGE,
			 f432_MAXXRANGE ,f432_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f432_RIGHT_MIDFIELD, f432_MIDFIELDERX, f432_RIGHTY, f432_POSITION_BUF, 
			 f432_HOMEXRANGE,f432_HOMEYRANGE,
			 f432_MAXXRANGE ,f432_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f432_CENTER_MIDFIELD, f432_MIDFIELDERX, f432_CENTERY, f432_POSITION_BUF, 
			 f432_HOMEXRANGE,f432_HOMEYRANGE,
			 f432_MAXXRANGE ,f432_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f432_LEFT_MIDFIELD, f432_MIDFIELDERX, f432_LEFTY, f432_POSITION_BUF, 
			 f432_HOMEXRANGE,f432_HOMEYRANGE,
			 f432_MAXXRANGE ,f432_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);
  
  formation->SetPosition(f432_RIGHT_WING, f432_FORWARDX, f432_INSIDERIGHTY, f432_POSITION_BUF, 
			 f432_HOMEXRANGE,f432_HOMEYRANGE,
			 f432_MAXXRANGE ,f432_INSIDE_MAXYRANGE, 
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(f432_LEFT_WING, f432_FORWARDX, f432_INSIDELEFTY, f432_POSITION_BUF, 
			 f432_HOMEXRANGE,f432_HOMEYRANGE,
			 f432_MAXXRANGE ,f432_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[6] = {f432_RIGHT_GOALIE, f432_LEFT_GOALIE, f432_SWEEPER,
		      f432_CENTER_DEFENSE, f432_RIGHT_DEFENSE, f432_LEFT_DEFENSE};
  formation->GetUnit(DEFENSIVE_UNIT)->InitializeUnit(DEFENSIVE_UNIT, 6, defenders, 0);

  int midfielders[3] = {f432_CENTER_MIDFIELD, 
			f432_RIGHT_MIDFIELD, f432_LEFT_MIDFIELD};
  formation->GetUnit(MIDFIELD_UNIT)->InitializeUnit(MIDFIELD_UNIT, 3, midfielders, 0);

  int forwards[2] = {f432_RIGHT_WING, f432_LEFT_WING};
  formation->GetUnit(FORWARD_UNIT)->InitializeUnit(FORWARD_UNIT, 3, forwards, 0);

  int rights[3] = {f432_RIGHT_DEFENSE, f432_RIGHT_MIDFIELD, f432_RIGHT_WING};
  formation->GetUnit(RIGHT_UNIT)->InitializeUnit(RIGHT_UNIT, 3, rights, 1);

  int centers[5] = {f432_RIGHT_GOALIE, f432_LEFT_GOALIE, f432_SWEEPER, f432_CENTER_DEFENSE, 
		    f432_CENTER_MIDFIELD};
  formation->GetUnit(CENTER_UNIT)->InitializeUnit(CENTER_UNIT, 5, centers, 4);

  int lefts[3] = {f432_LEFT_DEFENSE, f432_LEFT_MIDFIELD, f432_LEFT_WING};
  formation->GetUnit(LEFT_UNIT)->InitializeUnit(LEFT_UNIT, 3, lefts, 1);
}


int *Build_432_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 f432_CENTER_MIDFIELD:
    NumOptions = 4;
    PreferenceList[0] = (LocationSide == RIGHT) ? f432_RIGHT_WING : f432_LEFT_WING;
    PreferenceList[1] = (LocationSide == RIGHT) ? f432_LEFT_WING : f432_RIGHT_WING;
    PreferenceList[2] = (LocationSide == RIGHT) ? f432_RIGHT_MIDFIELD :f432_LEFT_MIDFIELD;
    PreferenceList[3] = (LocationSide == RIGHT) ? f432_LEFT_MIDFIELD :f432_RIGHT_MIDFIELD;
    break;
  case f432_RIGHT_MIDFIELD:
  case f432_LEFT_MIDFIELD:
    NumOptions = 3;
    PreferenceList[0] = (LocationSide == RIGHT) ? f432_RIGHT_WING : f432_LEFT_WING;
    PreferenceList[1] = (LocationSide == RIGHT) ? f432_LEFT_WING : f432_RIGHT_WING;
    PreferenceList[2] = f432_CENTER_MIDFIELD;
    break;
  case f432_CENTER_DEFENSE:    
    NumOptions = 3;
    PreferenceList[0] = (LocationSide == RIGHT) ? f432_RIGHT_MIDFIELD : f432_LEFT_MIDFIELD;
    PreferenceList[1] = (LocationSide == RIGHT) ? f432_LEFT_MIDFIELD : f432_RIGHT_MIDFIELD;
    PreferenceList[2] = f432_CENTER_MIDFIELD;
    break;
  case f432_RIGHT_DEFENSE:
  case f432_LEFT_DEFENSE:
    NumOptions = 3;
    PreferenceList[0] = (LocationSide == RIGHT) ? f432_RIGHT_MIDFIELD : f432_LEFT_MIDFIELD;
    PreferenceList[1] = (LocationSide == RIGHT) ? f432_RIGHT_WING : f432_LEFT_WING;
    PreferenceList[2] = f432_CENTER_MIDFIELD;
    break;
  case f432_SWEEPER:
    NumOptions = 7;
    PreferenceList[0] = (LocationSide == RIGHT) ? f432_RIGHT_DEFENSE : f432_LEFT_DEFENSE;
    PreferenceList[1] = (LocationSide == RIGHT) ? f432_LEFT_DEFENSE : f432_RIGHT_DEFENSE;
    PreferenceList[2] = (LocationSide == RIGHT) ? f432_RIGHT_MIDFIELD : f432_LEFT_MIDFIELD;
    PreferenceList[3] = (LocationSide == RIGHT) ? f432_LEFT_MIDFIELD : f432_RIGHT_MIDFIELD;
    PreferenceList[4] = f432_CENTER_MIDFIELD;
    PreferenceList[5] = (LocationSide == RIGHT) ? f432_RIGHT_WING : f432_LEFT_WING;
    PreferenceList[6] = (LocationSide == RIGHT) ? f432_LEFT_WING : f432_RIGHT_WING;
    break;
  case f432_RIGHT_GOALIE:
  case f432_LEFT_GOALIE:
    break; /* clear */
  }	

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

/************************ RIGHT Formation ********************************/

#define fRT_GOALIE_BUF      2
#define fRT_POSITION_BUF    3

#define fRT_GOALTENDERX   (-52)
#define fRT_FULLBACKX     (-35)
#define fRT_QTRBACKX      (-15)
#define fRT_HALFBACKX      0
#define fRT_3QTRBACKX      12
#define fRT_FORWARDX       30
#define fRT_OUTSIDEY      (-22)
#define fRT_INSIDEY       (-7)
#define fRT_CENTERY        0

#define fRT_HOMEXRANGE    20
#define fRT_HOMEYRANGE    10
#define fRT_MAXXRANGE     30
#define fRT_MAXYRANGE     30

void Initialize_RT_Formation(Formation *formation){
  
  /* set position within goal stay, in penalty box      */
  formation->SetPosition(fRT_GOALIE, fRT_GOALTENDERX, fRT_CENTERY, fRT_GOALIE_BUF, 
			 (X0- (-fRT_GOALTENDERX))*2, GOAL_WIDTH, 
			 /*(-fRT_GOALTENDERX - PA_X)*2, PA_Y*2, */
			 (X0- (-fRT_GOALTENDERX))*2, GOAL_WIDTH, 
			 GOALIEMAXACTIVEDIST, MININACTIVEDIST, FALSE);  

  formation->SetPosition(fRT_INSIDE_FULLBACK, fRT_FULLBACKX, fRT_INSIDEY, fRT_POSITION_BUF, 
			 fRT_HOMEXRANGE,fRT_HOMEYRANGE,
			 fRT_MAXXRANGE ,fRT_MAXYRANGE,
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(fRT_OUTSIDE_FULLBACK, fRT_FULLBACKX, fRT_OUTSIDEY, fRT_POSITION_BUF, 
			 fRT_HOMEXRANGE,fRT_HOMEYRANGE,
			 fRT_MAXXRANGE ,fRT_MAXYRANGE,
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(fRT_INSIDE_QTRBACK, fRT_QTRBACKX, fRT_INSIDEY, fRT_POSITION_BUF, 
			 fRT_HOMEXRANGE,fRT_HOMEYRANGE,
			 fRT_MAXXRANGE ,fRT_MAXYRANGE,
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(fRT_OUTSIDE_QTRBACK, fRT_QTRBACKX, fRT_OUTSIDEY, fRT_POSITION_BUF, 
			 fRT_HOMEXRANGE,fRT_HOMEYRANGE,
			 fRT_MAXXRANGE ,fRT_MAXYRANGE,
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(fRT_INSIDE_HALFBACK, fRT_HALFBACKX, fRT_INSIDEY, fRT_POSITION_BUF, 
			 fRT_HOMEXRANGE,fRT_HOMEYRANGE,
			 fRT_MAXXRANGE ,fRT_MAXYRANGE,
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(fRT_OUTSIDE_HALFBACK, fRT_HALFBACKX, fRT_OUTSIDEY, fRT_POSITION_BUF, 
			 fRT_HOMEXRANGE,fRT_HOMEYRANGE,
			 fRT_MAXXRANGE ,fRT_MAXYRANGE,
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(fRT_INSIDE_3QTRBACK, fRT_3QTRBACKX, fRT_INSIDEY, fRT_POSITION_BUF, 
			 fRT_HOMEXRANGE,fRT_HOMEYRANGE,
			 fRT_MAXXRANGE ,fRT_MAXYRANGE,
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(fRT_OUTSIDE_3QTRBACK, fRT_3QTRBACKX, fRT_OUTSIDEY, fRT_POSITION_BUF, 
			 fRT_HOMEXRANGE,fRT_HOMEYRANGE,
			 fRT_MAXXRANGE ,fRT_MAXYRANGE,
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(fRT_INSIDE_FORWARD, fRT_FORWARDX, fRT_INSIDEY, fRT_POSITION_BUF, 
			 fRT_HOMEXRANGE,fRT_HOMEYRANGE,
			 fRT_MAXXRANGE ,fRT_MAXYRANGE,
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);

  formation->SetPosition(fRT_OUTSIDE_FORWARD, fRT_FORWARDX, fRT_OUTSIDEY, fRT_POSITION_BUF, 
			 fRT_HOMEXRANGE,fRT_HOMEYRANGE,
			 fRT_MAXXRANGE ,fRT_MAXYRANGE,
			 MAXACTIVEDIST, MININACTIVEDIST, TRUE);


  /* Candidate receivers will be chosen on the fly here */
  int receiverlist[TEAM_SIZE] = {fRT_INSIDE_FORWARD,fRT_OUTSIDE_FORWARD,
				 fRT_INSIDE_3QTRBACK,fRT_OUTSIDE_3QTRBACK,