handleball.cpp

robocup3d源化码 Nexus3D.tar.gz

/*
Copyright (C) 2005 Ferdowsi University
*/


#include "handleball.h"
#include "global.h"

HandleBall::HandleBall()
{

}

bool HandleBall::MakeShootDecision()
{

}

bool HandleBall::MakeDribleDecision()
{

}

bool HandleBall::MakePassDecision()
{

}

bool HandleBall::TryHandle()
{
	if(self.dist2ball > KickDistance)
	{
		DoLog(LOG_HANDLE,"self.dist2ball=%.2f",self.dist2ball);
		return false;
	}
	return MakeHandleBallDecision();
}

bool HandleBall::MakeHandleBallDecision()
{
	//float angle,power,v_angle;
	float dist2oppgoal=(self.pos-Vector3f(FieldLength/2,0,0)).Length();
	float min_dist2goal=200;
	int nearest_num=1;
	for(int i=1;i<=11;i++) if((MyPlayer[i].pos-Vector3f(FieldLength/2,0,0)).Length()<min_dist2goal){
		min_dist2goal=(MyPlayer[i].pos-Vector3f(FieldLength/2,0,0)).Length();
		nearest_num=i;
	}
	float epsilon=25;
	if((TheirPlayer[FieldInfo.NearestOpponent2me()].distance < 2)  && (self.pos[0] < 0))
		ClearBall();
	else if((dist2oppgoal<20||nearest_num==MyNumber)&&!((FieldLength/2-ball.pos[0])<4&&(ball.pos[1]>8||ball.pos[1]<-8))){
		epsilon=10;
		if((ball.pos[1]>5||ball.pos[1]<-5)&&FieldLength/2-ball.pos[0]<5) epsilon=5;
		//find out who is their goalie
		float min_opp_dist2goal=200;
		int Theirgoalie_num=1;
		for(int i=1;i<=11;i++) if((TheirPlayer[i].pos-Vector3f(FieldLength/2,0,0)).Length()<min_opp_dist2goal){
			min_opp_dist2goal=(TheirPlayer[i].pos-Vector3f(FieldLength/2,0,0)).Length();
			Theirgoalie_num=i;
		}
		bool side=false;//false=left    true=right
		Line line1(-(ball.pos[1]-3.66)/(ball.pos[0]-FieldLength/2),1,3.66);
		Line line2(-(ball.pos[1]+3.66)/(ball.pos[0]-FieldLength/2),1,-3.66);
		float m=GetSlopeOfMidAngle(line1.Angle(),line2.Angle());
		float y=0;
		y=m*(TheirPlayer[Theirgoalie_num].pos[0]-ball.pos[0])+ball.pos[1];
		if(y>TheirPlayer[Theirgoalie_num].pos[1]) side=false;
		else side=true;
		if(side){
			action_info.kick_direction=Rad2Deg(atan2((-GoalWidth/2+3)-ball.pos[1],FieldLength/2-ball.pos[0]));
			DoLog(LOG_HANDLE,"right shoot angel=%f",action_info.kick_direction);
			if(dist2oppgoal>15) action_info.kick_angle=15;
			else  if(dist2oppgoal>10) action_info.kick_angle=10;
			else  if(dist2oppgoal>5) action_info.kick_angle=5;
			else  action_info.kick_angle=2;
			action_info.kick_power=100;
		}
		else{
			action_info.kick_direction=Rad2Deg(atan2((GoalWidth/2-3)-ball.pos[1],FieldLength/2-ball.pos[0]));
			DoLog(LOG_HANDLE,"left shoot angle=%f",action_info.kick_direction);
			if(dist2oppgoal>15) action_info.kick_angle=15;
			else  if(dist2oppgoal>10) action_info.kick_angle=10;
			else  if(dist2oppgoal>5) action_info.kick_angle=5;
			else  action_info.kick_angle=2;
			action_info.kick_power=100;
		}
	}
	else{
		ActionInfo a = GetBestAction();
		epsilon=25;
		if(a.kick_power > 0)
		{
			action_info.kick_direction = a.kick_direction;
			action_info.kick_angle = a.kick_angle;
			action_info.kick_power = a.kick_power;
		}
		else
			DoLog(LOG_HANDLE,"Ridim Baba!");
		/*
		if(nearest_num==MyNumber){
			for(int i=1;i<=11;i++) if((MyPlayer[i].pos-Vector3f(FieldLength/2,0,0)).Length()<min_dist2goal&&i!=MyNumber){
				min_dist2goal=(MyPlaaction_info.kick_directionyer[i].pos-Vector3f(FieldLength/2,0,0)).Length();
				nearest_num=i;
			}
		}
		epsilon=20;//15//25
		action_info.kick_direction=Rad2Deg(atan2(MyPlayer[nearest_num].pos[1]-ball.pos[1],(MyPlayer[nearest_num].pos[0]+2)-ball.pos[0]));
		DoLog(LOG_HANDLE,"+++++++++++++pass action_info.kick_direction=%f    to player %d",action_info.kick_direction,nearest_num);
		if(MyPlayer[nearest_num].distance>20) action_info.kick_power=100;
		else if(MyPlayer[nearest_num].distance>10) action_info.kick_power=80;
		else if(MyPlayer[nearest_num].distance>5) action_info.kick_power=60;
		else action_info.kick_power=40;
		if(OpponentCanIntercept(Vector3f(action_info.kick_power/7*cos(action_info.kick_direction),action_info.kick_power/7*sin(action_info.kick_direction),0)))
		{
			action_info.kick_angle=45;
			action_info.kick_power+=action_info.kick_power*0.2;
			DoLog(LOG_HANDLE,"Opponent Can Inetrcept! Adjust vertical action_info.kick_direction & action_info.kick_power",action_info.kick_direction,nearest_num);
		}
		else
			action_info.kick_angle=10;
		*/
	}

	if(AdjustKickPos.AdjustNeeded(action_info.kick_direction,epsilon)){
		Vector3f Pos=AdjustKickPos.MoveAroundBall(action_info.kick_direction);
		DoLog(LOG_HANDLE,"adjust needed  -  pos(%f,%f)",Pos[0],Pos[1]);
		action_info.x = Pos[0];
		action_info.y = Pos[1];
		action_info.do_drive = true;
	}
	else
	{
		DoLog(LOG_HANDLE,"-------Kick------- action_info.kick_power = %.2f, action_info.kick_angle = %.2f",action_info.kick_power, action_info.kick_angle);
		//DoShoot(action_info.kick_power,action_info.kick_angle);
		action_info.do_kick = true;
	}
	return true;
}

void HandleBall::DoShoot(float kick_power , float kick_direction){
	/*
	if (ball.distance < KickDistance){
		DoLog(LOG_HANDLE,"ball.distance=%f , KickDist=%f",ball.distance,KickDistance);
		action_info.kick_angle = kick_direction;
		action_info.kick_direction=0;
		action_info.kick_power = kick_power;
		action_info.do_kick=true;
	}
	*/
}

void HandleBall::ClearBall(){
	float angle = NormalizeAngle(Rad2Deg(atan2(self.pos[1]-ball.pos[1],self.pos[0]-ball.pos[0])),-180);
	if (self.pos[0] > -38 )
	{
		if (self.pos[0] - ball.pos[0] < -0.03)
		{
			action_info.kick_direction=angle;
			action_info.kick_power=100;
			action_info.do_kick=true;
			DoLog (LOG_HANDLE,"SHOOTIDIMESH1.......");
		}
	}
	else if (self.pos[0] < -38)
	{
		if (self.pos[0] - ball.pos[0] < -0.03  &&  fabs(ball.pos[1]) - fabs(self.pos[1]) > -0.07)
		{
			action_info.kick_direction=angle;
			action_info.kick_power=100;
			action_info.do_kick=true;
			DoLog (LOG_HANDLE,"SHOOTIDIMESH2.......");
		}
	}

	if(!OpponentCanIntercept(Vector3f(10*cos(angle),10*sin(angle),0)))
		action_info.kick_angle=5;
	else
	{
		action_info.kick_angle=15;
		DoLog (LOG_HANDLE,"Opponente namard!.......");
	}
}

ActionInfo HandleBall::GetBestAction()
{
	bool passable = false;
	bool dribblable = false;
	PassInfo p;
	DribbleInfo d;
	ActionInfo a;
	float agent_angle = NormalizeAngle(Rad2Deg(atan2((ball.pos[1]-self.pos[1]),(ball.pos[0]-self.pos[0]))),-180.0);
	passable = pass.CanPass();
	//dribblable = dribble.CanDribble();

	/*
	if(passable && dribblable){
		PassInfo p = pass.GetBestPass();
		DribbleInfo d = dribble.GetBestDribble();
		if(fabs(agent_angle - p.direction) < fabs(agent_angle - d.direction))
		{
			//do pass
			a.kick_power = p.speed;
			a.kick_direction = p.direction;
			a.kick_angle = p.angle;
			a.do_kick = true;
			DoLog(LOG_HANDLE, "Passing...1");
			return a;
		}
		else
		{
			//do dribble
			a.kick_power = d.speed;
			a.kick_direction = d.direction;
			a.kick_angle = d.angle;
			a.do_kick = true;
			DoLog(LOG_HANDLE, "Dribbling...1");
			return a;
		}
	}
	*/
	if(passable)
	{
		PassInfo p = pass.GetBestPass();
		a.kick_power = p.speed;
		a.kick_direction = p.direction;
		a.kick_angle = p.angle;
		a.do_kick = true;
		DoLog(LOG_HANDLE, "Passing...2");
		return a;
	}
	/*
	if(dribblable)
	{
		DribbleInfo d = dribble.GetBestDribble();
		a.kick_power = d.speed;
		a.kick_direction = d.direction;
		a.kick_angle = d.angle;
		a.do_kick = true;
		DoLog(LOG_HANDLE, "Dribbling...2");
		return a;
	}
	*/
	return a;
}