knockorpass.c

足球机器人仿真组CMU97的源码

//  if (hurry)
//    printf("Gotta Hurry (%d)\n",Mem->MyNumber);
//#endif
//
//  /* choose the eligible receivers */
//  int teammates[TEAM_SIZE];
//  int NumOpen = 0;
//  for (int i=0; i<NumOptions; i++){
//    if ( Mem->PositionOccupied(PreferenceList[i]) && 
//         Mem->GetPositionPlayer(PreferenceList[i]) != Mem->MyNumber ){
//      int PossibleReceiver = Mem->GetPositionPlayer(PreferenceList[i]);
//      
//      if ( Mem-> PlayerValid(Mem->MySide,PossibleReceiver) &&
//           Mem->GetPlayerDistance(Mem->MySide,PossibleReceiver) > 10 &&
//           Mem->GetPlayerDistance(Mem->MySide,PossibleReceiver) < 50 &&
//           (!hurry || !NEEDTOCIRCLETOPASSTO(PossibleReceiver)) )
//        teammates[NumOpen++] = PossibleReceiver;
//    }
//  }
//  teammates[NumOpen]=Mem->MyNumber;
//
//
//#if PASSER_DEBUG
//  printf("NumOpen: %d\n",NumOpen);
//#endif
//
//#if 0
//  int WaitForData = FALSE;
//  for (int j=0; j<NumOpen; j++){
//    if ( !strcmp(Mem->GetData(teammates[j]),BLANK_DAT) ){
//      SAYTO(teammates[j],GIVE_DATA_MSG);    /* Ping the individual for data */
//      WaitForData = TRUE;
//    }
//  }
//#endif
//
///* Ask for the data, but don't wait for it */
//#if 0  
//  if ( WaitForData ){     /* waiting for data:  don't bother evaluating yet */
//    *KnockOrPass = 'd';
//    *BallTo = THEIR_GOAL;
//    printf("ChooseReceiverTree returned FALSE\n");
//    return WHATEVER;
//  }
//#endif
//
//  if ( 0 && !NumOpen /* let the clear be selected */){
//
//    printf("%d:%d          None open\n", Mem->MyNumber, Mem->CurrentTime);
//
//    /* Was at top of function */
//    if ( Mem->FacingBackNearOwnGoal() ||/*FacingBackInOwnPA()*/ 
//         Mem->InOwnPenaltyArea() ){
//      /* Similar condition in Cleartowards --- change there too */
//      *KnockOrPass = 'c';
//      if ( Mem->GetMyLocationSide() == RIGHT )
//        *BallTo = RC_FLAG;
//      else
//        *BallTo = LC_FLAG;
//      return WHATEVER;
//    }
//
//    if ( hurry || 
//         (Mem->MarkerValid(THEIR_GOAL) && 
//          Mem->GetMarkerDistance(THEIR_GOAL) < SHOOT_DIST) )
//      *KnockOrPass = 'k';
//    else 
//      *KnockOrPass = 'd';
//    *BallTo = THEIR_GOAL;
//    int myType = Mem->GetMyLocationsPositionType();
//    int mySide = Mem->GetMyLocationsPositionSide();
//    if ( myType <= DEFENDER &&   mySide == CENTER ){
//      if (Mem->GetMyLocationSide() == RIGHT) /* Actual side */
//        *BallTo = RF_FLAG;   /* center backs shouldn't clear it up the middle */
//      else
//        *BallTo = LF_FLAG;   
//    }
//    if ( myType != FORWARD )
//      *KnockOrPass = 'c';  /* avoid players */
//    return WHATEVER;
//  }
//
//#if PASSER_DEBUG
//  printf("Running the DT stuff\n");
//#endif
//
//  /* Find the best teammate */
//  float Confidences[NumOpen+1];  /* Array to keep confidence that pass will succeed */
//
//  /* Limit the options that are considered */
//  /* if (NumOpen > 3) NumOpen = 3;         */
//
//#if PASS_DEBUG
//  /* Random choice among DT options */
//  /* int receiverIndex = int_random(NumOpen);*/
//  /* First choice among DT options (like WTW)*/
//  printf("random pass\n");
//  int receiverIndex = 0;
//  int receiver = teammates[receiverIndex];
//  float PassSuccessConf = 1;
//#else 
//  int receiverIndex = FindTreeConfidences(NumOpen,teammates,Confidences);
//  Confidences[NumOpen]=KNOCK_CONF;
//  if (receiverIndex<0) receiverIndex=0;  /* To adjust for passing in self */
//  /* Overwrite the max value */
//  receiverIndex = RLforReceiver(NumOpen,teammates,Confidences);
//
//  int receiver = teammates[receiverIndex];
//  float PassSuccessConf = Confidences[receiverIndex];
//#endif
//
//  //printf("%d passing to %d\n",Mem->MyNumber,receiver);
//
//  static int Attempts = 0, Shots = 0;
//  if (receiver == Mem->MyNumber)
//    Shots++;
//  if ( Attempts++%100 == 0 ){
//    char fileName[100];
//    sprintf(fileName,"rlDat/rlDatShots%d.dat",Mem->MyNumber);
//    FILE *shotsFile = fopen(fileName,"w");
//    fprintf(shotsFile,"%d shots out of %d attempts (%.1f\%)\n",
//            Shots,Attempts,100*((float)Shots)/Attempts);
//    fclose(shotsFile);
//  }
//
//  if (receiver == Mem->MyNumber /* || PassSuccessConf < 0 */){
//
//#if 1
//    *KnockOrPass = 'k';
//    *BallTo = THEIR_GOAL;
//    return WHATEVER;
//#endif
//
//    /* Was up top */
//    if ( Mem->FacingBackNearOwnGoal() ||/*FacingBackInOwnPA()*/ 
//         Mem->InOwnPenaltyArea() ){
//      /* Similar condition in Cleartowards --- change there too */
//      *KnockOrPass = 'c';
//      if ( Mem->GetMyLocationSide() == RIGHT )
//        *BallTo = RC_FLAG;
//      else
//        *BallTo = LC_FLAG;
//      return WHATEVER;
//    }
//
//    /* printf("          None will succeed\n");    */
//    if ( hurry || 
//         (Mem->MarkerValid(THEIR_GOAL) && 
//          Mem->GetMarkerDistance(THEIR_GOAL) < SHOOT_DIST) )
//      *KnockOrPass = 'k';
//    else 
//      *KnockOrPass = 'd';
//    *BallTo = THEIR_GOAL;
//    int myType = Mem->GetMyLocationsPositionType();
//    int mySide = Mem->GetMyLocationsPositionSide();
//    if ( myType <= DEFENDER &&   mySide == CENTER ){
//      if (Mem->GetMyLocationSide() == RIGHT)  /* Actual side */
//        *BallTo = RF_FLAG;   /* center backs shouldn't clear it up the middle */
//      else
//        *BallTo = LF_FLAG;   
//    }
//    if ( myType != FORWARD )
//      *KnockOrPass = 'c';  /* avoid players */
//#if PASSER_DEBUG
//    printf("Don't pass with confidence of %.1f\n",PassSuccessConf);
//#endif
//    return WHATEVER;
//  }
//  else{
//    /* printf("ChooseReceiverTree returned %d\n",receiver); */
//    *BallTo = receiver;
//  }
//
//  if ( *KnockOrPass == 'p' && ( !*BallTo || *BallTo>TEAM_SIZE ) )
//    my_error("Need to pass to a teammate with a valid number");
//
//  return WHATEVER;
//}

int ImmediatelyBlocked(float x, float y){

  if (!UnderPressure()) return FALSE;

  float ballX,ballY;
  Mem->GetBallGlobalXY(&ballX,&ballY);
  LINEP PassLine=LnFrom2Pts(ballX,ballY,x,y);
  POSN Ball, Dest, Player;
  Ball.x = ballX; Ball.y = ballY;
  Dest.x = x, Dest.y = y;
  float DistAlong, DistFrom;
  int blocked = FALSE;
  int blockedBy = 0;

  for (int i=1; i<=TEAM_SIZE; i++){
    if (i == Mem->MyNumber) continue;
    if (!Mem->TeammateValid(i)) continue;
    if (Mem->GetTeammateDistance(i) > 11) continue;
    Mem->GetTeammateGlobalXY(i,&(Player.x),&(Player.y));
    if ( !LnDistanceIfBetween(&Player,&Ball,&Dest,PassLine,&DistFrom,&DistAlong) )
      continue;
    if (fabs(DistAlong) < 10 && fabs(DistFrom) < 2){
      blocked = TRUE;
      blockedBy = i;
      break;
    }
  }
  if (!blocked){
    for (int i=1; i<=TEAM_SIZE; i++){
      if (!Mem->OpponentValid(i)) continue;
      if (Mem->GetOpponentDistance(i) > 11) continue;
      if (x == X0 && y == 0 && i==1) continue; /* At the goal, ignore goalie */
      Mem->GetOpponentGlobalXY(i,&(Player.x),&(Player.y));
      if ( !LnDistanceIfBetween(&Player,&Ball,&Dest,PassLine,&DistFrom,&DistAlong) )
	continue;
      if (fabs(DistAlong) < 10 && fabs(DistFrom) < 2){
	blocked = TRUE;
	blockedBy = i+100;
	break;
      }
    }
  }

  /*if (Mem->MyNumber==11 && blocked) 
    printf("%d:%d **** To (%.1f %.1f) is blocked (by %d: %.1f %.1f)! ****\n",
	   Mem->MyNumber, Mem->CurrentTime, x, y, blockedBy, DistAlong, DistFrom);*/

  delete PassLine;
  return blocked;
}

int ImmediatelyBlocked(int receiver){
  return ImmediatelyBlocked(Mem->GetTeammateGlobalX(receiver),
			    Mem->GetTeammateGlobalY(receiver));
}

int UseRL(char *KnockOrPass, int *BallTo){

  if ( !Mem->BallValid() || Mem->GetBallDistance() > KICK_DISTANCE ){
    /* Doesn't matter -- won't get used anyway, just collecting the ball */
    *KnockOrPass = 'd';
    *BallTo = THEIR_GOAL;
    return WHATEVER;
  }

  *KnockOrPass = 'p';            /* otherwise pass         */

#if PASSER_DEBUG
  printf("*** player %d passing *** %d *** %d *** %d ***\n",
         Mem->MyNumber,Mem->MyNumber,Mem->MyNumber,Mem->MyNumber);
#endif

  int PreferenceList[TEAM_SIZE];

#if 0
  /* Only consider from list */
  int NumOptions = Mem->GetMyReceiverList(PreferenceList); 
#else
  /* Consider all positions*/
  int NumOptions=TEAM_SIZE;
  for (int i=0; i<TEAM_SIZE; i++)
    PreferenceList[i]=i;
#endif

  int hurry = UnderPressure(); 
#if PASSER_DEBUG
  if (hurry)
    printf("Gotta Hurry (%d)\n",Mem->MyNumber);
#endif

  /* choose the eligible receivers */
  int actions[NUM_RL_ACTIONS];
  int action_types[NUM_RL_ACTIONS];
  int NumOpen = 0;
  for (int i=0; i<NumOptions; i++){
    if ( Mem->PositionOccupied(PreferenceList[i]) && 
         Mem->GetPositionPlayer(PreferenceList[i]) != Mem->MyNumber &&
	 PreferenceList[i] != Mem->GetPositionOfMyLocation() ){
      int PossibleReceiver = Mem->GetPositionPlayer(PreferenceList[i]);
      
      if ( Mem-> PlayerValid(Mem->MySide,PossibleReceiver) &&
           Mem->GetPlayerDistance(Mem->MySide,PossibleReceiver) > 10 &&
           Mem->GetPlayerDistance(Mem->MySide,PossibleReceiver) < 50 &&
           (!hurry || !NEEDTOCIRCLETOPASSTO(PossibleReceiver)) &&
	   !ImmediatelyBlocked(PossibleReceiver)){
	action_types[NumOpen] = RL_PASS_ACTION;
        actions[NumOpen++] = PossibleReceiver;
      }
    }
  }

  int NumActions = NumOpen;
#if 1
  for (int i=0; i<NUM_RL_KNOCK_ACTIONS; i++){
    if ( (!hurry || !NEEDTOCIRCLE(Mem->GetMarkerAngle(i+MY_GOAL))) ){
      float markerX,markerY;
      Mem->GetMarkerGlobalXY(i+MY_GOAL,&markerX,&markerY);
      if ( !ImmediatelyBlocked(markerX,markerY) ){
	action_types[NumActions] = RL_KNOCK_ACTION;
	actions[NumActions++] = i+MY_GOAL;
      }
    }
  }
  if (NumActions == NumOpen){ /* all knocks blocked */
    action_types[NumActions] = RL_KNOCK_ACTION;
    actions[NumActions++] = THEIR_GOAL;
  }
#else
  /* Only shoot */
  action_types[NumActions] = RL_KNOCK_ACTION;
  actions[NumActions++] = THEIR_GOAL;
#endif

#if PASSER_DEBUG
  printf("NumOpen: %d\n",NumOpen);
#endif

#if 0
  int WaitForData = FALSE;
  for (int j=0; j<NumOpen; j++){
    if ( !strcmp(Mem->GetData(actions[j]),BLANK_DAT) ){
      SAYTO(actions[j],GIVE_DATA_MSG);    /* Ping the individual for data */
      WaitForData = TRUE;
    }
  }
#endif

/* Ask for the data, but don't wait for it */
#if 0  
  if ( WaitForData ){     /* waiting for data:  don't bother evaluating yet */
    *KnockOrPass = 'd';
    *BallTo = THEIR_GOAL;
    printf("ChooseReceiverTree returned FALSE\n");
    return WHATEVER;
  }
#endif

#if 0
  if ( 0 && !NumOpen /* let the clear be selected */){

    printf("%d:%d          None open\n", Mem->MyNumber, Mem->CurrentTime);

    /* Was at top of function */
    if ( Mem->FacingBackNearOwnGoal() ||/*FacingBackInOwnPA()*/ 
         Mem->InOwnPenaltyArea() ){
      /* Similar condition in Cleartowards --- change there too */
      *KnockOrPass = 'c';
      if ( Mem->GetMyLocationSide() == RIGHT )
        *BallTo = RC_FLAG;
      else
        *BallTo = LC_FLAG;
      return WHATEVER;
    }

    if ( hurry ||