📄 strategy.cpp
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//定义类型，常量
#include "Strategy.h"
//定义动作函数
#include "vsv.h"
// NormalGame 在没有犯规和罚球的情况下的策略
void NormalGame ( Environment *env )
{
Mydata * p;
p=(Mydata *)env->userData;
Vector3D pos,begin,end;
static int flag=1;
int i,count;
double alfa;
if(flag==1){
PredictBall(env,2);
Kick(env,3,p->preball);
Kick(env,4,p->preball);
flag++;
}
Goalie(env,0);
if(p->curball.x>=50&&p->curball.x<61)
Kick(env,1,CONSTGATE);
else if(p->curball.x>=61&&p->curball.x<78.6){
if(p->curball.y<27.8){
pos.x=37.2;
pos.y=20;
}
else if(p->curball.y<=58.5){
PredictBall(env,2);
pos.x=37.2;
pos.y=p->preball.y;
}
else{
pos.x=37.2;
pos.y=66.2;
}
PositionAndStop(env,1,pos);
}
else if(p->curball.x>78.6&&
((p->curball.y<34&&p->curball.y>6.3)||(p->curball.y>48&&p->curball.y<77.2))){
Order(env);
count=120;
while(count>0){
Kick(env,1,p->slowrobot);
count--;
}
}
switch(p->ballArea){
case 1:
case 2:
Order(env);
pos.x=50;
pos.y=9;
Kick(env,p->mainrobot,pos);
Kick(env,p->slowrobot,pos);
/*PredictBall(env,2);
Kick(env,p->mainrobot,p->preball);
Kick(env,p->slowrobot,p->preball);*/
pos.x=19;
pos.y=58;
for(i=1;i<5;i++)
if(fabs(p->opp[i].pos.x-pos.x)<15&&fabs(p->opp[i].pos.y-pos.y)<15)
break;
if(i<5)
PositionAndThrough(env,p->defentrobot,p->opp[i].pos,125);
else if(p->curball.y<28){
pos.x=20;
pos.y=58;
PositionAndStop(env,p->defentrobot,pos,-145);
}
else
Kick(env,p->defentrobot,0);
if(p->curball.x<12&&p->curball.y>27)
PositionAndThrough(env,p->cutrobot,p->robot[0].pos);
else if(p->curball.x<FLEFT+4&&p->curball.x<17){
pos.x=9;
pos.y=9;
Kick(env,p->cutrobot,pos);
}
else{
pos.x=20;
pos.y=p->robot[0].pos.y;
PositionAndStop(env,p->cutrobot,pos);
}
break;
case 3:
case 4:
Order(env);
pos.x=50;
pos.y=74;
Kick(env,p->mainrobot,pos);
Kick(env,p->slowrobot,pos);
/*PredictBall(env,2);
Kick(env,p->mainrobot,p->preball);
Kick(env,p->slowrobot,p->preball);*/
pos.x=19;
pos.y=27;
for(i=1;i<5;i++)
if(fabs(p->opp[i].pos.x-pos.x)<15&&fabs(p->opp[i].pos.y-pos.y)<15)
break;
if(i<5)
PositionAndThrough(env,p->defentrobot,p->opp[i].pos,125);
else if(p->curball.y>66){
pos.x=20;
pos.y=27;
PositionAndStop(env,p->defentrobot,pos,145);
}
else
Kick(env,p->defentrobot,0);
if(p->curball.x<12&&p->curball.y<59)
PositionAndThrough(env,p->cutrobot,p->robot[0].pos);
else if(p->curball.x>FLEFT+4&&p->curball.x<17){
pos.x=9;
pos.y=77;
Kick(env,p->cutrobot,pos);
}
else{
pos.x=20;
pos.y=p->robot[0].pos.y;
PositionAndStop(env,p->cutrobot,pos);
}
break;
case 5:
case 6:
Order(env);
Kick(env,p->mainrobot,1,1.5);
Kick(env,p->slowrobot,3,1.5);
Kick(env,p->cutrobot,5,1.5);
pos.x=19;
pos.y=58;
PositionAndStop(env,p->defentrobot,pos,-135);
break;
case 7:
case 8:
Order(env);
Kick(env,p->mainrobot,1,1.5);
Kick(env,p->slowrobot,3,1.5);
Kick(env,p->cutrobot,5,1.5);
pos.x=20;
pos.y=27;
PositionAndStop(env,p->defentrobot,pos,135);
break;
case 9:
Order(env);
shoot(env,p->mainrobot);
if(p->curball.x>p->robot[p->mainrobot].pos.x&&p->curball.y<10){
count=120;
while(count>0){
Kick(env,p->slowrobot,p->mainrobot);
Kick(env,p->cutrobot,p->slowrobot);
count--;
}
}
else{
PredictBall(env,2);
PositionAndStop(env,p->slowrobot,p->preball);
pos.x=77;
pos.y=57.5;
PositionAndStop(env,p->cutrobot,pos,-45);
}
break;
case 10:
Order(env);
shoot(env,p->mainrobot);
PredictBall(env,2);
PositionAndStop(env,p->slowrobot,p->preball);
pos.x=77;
pos.y=57.5;
PositionAndStop(env,p->cutrobot,pos,-45);
break;
case 11:
Order(env);
shoot(env,p->mainrobot);
PredictBall(env,2);
PositionAndStop(env,p->slowrobot,p->preball);
pos.x=77;
pos.y=26;
PositionAndStop(env,p->cutrobot,pos,-45);
break;
case 12:
Order(env);
shoot(env,p->mainrobot);
if(p->curball.x>p->robot[p->mainrobot].pos.x&&p->curball.y>74.2){
count=120;
while(count>0){
Kick(env,p->slowrobot,p->mainrobot);
Kick(env,p->cutrobot,p->slowrobot);
count--;
}
}
else{
PredictBall(env,2);
PositionAndStop(env,p->slowrobot,p->preball);
pos.x=77;
pos.y=26;
PositionAndStop(env,p->cutrobot,pos,-45);
}
break;
case 13:
Order(env);
shoot(env,p->mainrobot);
if(p->curball.x<92){
count=120;
while(count>0){
Kick(env,p->slowrobot,p->mainrobot);
count--;
}
}
else
shoot(env,p->slowrobot);
if(p->curball.x<87||p->curball.y<20){
count=120;
while(count>0){
Kick(env,p->cutrobot,p->slowrobot);
count--;
}
}
else{
pos.x=77;
pos.y=57.5;
PositionAndStop(env,p->cutrobot,pos,-45);
}
break;
case 14:
Order(env);
if(p->curball.y>GBOTY){ //包抄
PredictBall(env,2);
begin=p->robot[p->cutrobot].pos,end=p->preball;
alfa=Atan(begin,end);
PAngle(env,p->cutrobot,alfa,125);
}
else{
//if(!shoot1(env,p->cutrobot)){
pos.x=77;
pos.y=57.5;
PositionAndStop(env,p->cutrobot,pos,-45);
}
shoot(env,p->mainrobot);
if(p->curball.y<34){
count=120;
while(count>0){
Kick(env,p->slowrobot,p->mainrobot);
count--;
}
}
else{
if(p->ballspeed.y>1) {
PositionBallX(env,p->mainrobot,p->robot[p->mainrobot].pos,-100,1);
//shoot(env,p->slowrobot);
}
else{
PositionBallX(env,p->mainrobot,p->robot[p->mainrobot].pos,-70,1);
//shoot(env,p->slowrobot);
}
Kick(env,p->slowrobot,CONSTGATE);
}
break;
case 15:
Order(env);
if(p->curball.y<GTOPY){
PredictBall(env,2);
begin=p->robot[p->cutrobot].pos,end=p->preball;
alfa=Atan(begin,end);
PAngle(env,p->cutrobot,alfa,125);
}
else{
//if(!shoot1(env,p->cutrobot)){
pos.x=77;pos.y=26;
PositionAndStop(env,p->cutrobot,pos,-45);
}
shoot(env,p->mainrobot);
if(p->curball.y>48){
count=120;
while(count>0){
Kick(env,p->slowrobot,p->mainrobot);
count--;
}
}
else{
if(p->ballspeed.y>1){
PositionBallX(env,p->mainrobot,p->robot[p->mainrobot].pos,100,1);
//shoot(env,p->slowrobot);
}
else{
PositionBallX(env,p->mainrobot,p->robot[p->mainrobot].pos,70,1);
//shoot(env,p->slowrobot);
}
Kick(env,p->slowrobot,CONSTGATE);
}
break;
case 16:
Order(env);
shoot(env,p->mainrobot);
if(p->curball.x<92){
count=120;
while(count>0){
Kick(env,p->slowrobot,p->mainrobot);
count--;
}
}
else
shoot(env,p->slowrobot);
if(p->curball.x<87||p->curball.y>66){
count=100;
while(count>0){
Kick(env,p->cutrobot,p->slowrobot);
count--;
}
}
else{
pos.x=77;pos.y=26;
PositionAndStop(env,p->cutrobot,pos,45);
}
break;
}
}
void PlaceBallGame(Environment *env)
{
Mydata * p;
p=(Mydata *)env->userData;
}
void PenaltyBallGame(Environment *env)
{
Mydata * p;
p=(Mydata *)env->userData;
Vector3D go={0,0,0};
switch (env->whoseBall)
{
case ANYONES_BALL:
break;
PenaltyGoalie (env, &p->robot[0] );
case BLUE_BALL:
PenaltyGoalie (env, &p->robot[0] );
break;
case YELLOW_BALL:
PenaltyGoalie (env, &p->robot[0] );
break;
}
}
void FreeKickGame(Environment *env)
{
Mydata * p;
p=(Mydata *)env->userData;
}
void GoalKickGame(Environment *env)
{
Mydata * p;
p=(Mydata *)env->userData;
}
void PenaltyGoalie ( Environment *env, Robot *robot )
{
Mydata * p;
p=(Mydata *)env->userData;
}
void FreeGoalie( Environment* env )
{
Mydata* p;
p=(Mydata*)env->userData;
}
void FreeBallGame(Environment *env)
{
Mydata * p;
p=(Mydata *)env->userData;
if(p->oldball.x > (FLEFT+FRIGHT)/2 )
{//我们发自由球，球在前场
if(p->oldball.y>(FTOP+FBOT)/2 )
{//在上方
Vector3D go ;
go = Meetball_x(env,(FTOP+FBOT)/2-2);
go.x -= 0.5; //为了偏角准备
if(go.z >0)
PositionAndStop(env,2,go,-30);
if(p->curball.y < (FTOP+FBOT)/2+5)
{
go =Meetball_x(env,GBOT);
if(go.z >0)
PositionAndStop(env,4,go,0.1);
}
PositionAndThrough(env,3,p->curball);
}
else
{//在下方
Vector3D go ;
go = Meetball_x(env,(FTOP+FBOT)/2+2);
go.x -= 0.5; //为了偏角准备
if(go.z >0)
PositionAndStop(env,2,go,30);
if(p->curball.y > (FTOP+FBOT)/2-5)
{
go =Meetball_x(env,GTOP);
if(go.z >0)
PositionAndStop(env,4,go,0.1);
}
PositionAndThrough(env,3,p->curball);
}
}
else
{//正常防守
NormalGame(env);
}
}
/*Action 对不同的GameState采用不同的策略
并且在各种状态之间切换的时候还用了计数器，作为从特殊状态改变到正常状态的判断标志
每种特殊状态都有计数器
*/
void Action ( Environment *env )
{
Mydata * p;
p=(Mydata *)env->userData;
switch(p->gameState)
{
case FREE_BALL: //1:
// Free ball
p->chooserobot = 0;
p->npenaltyball =0;
//NormalGame(env);
if(p->nfreeball <70)
{
FreeBallGame(env);
p->nfreeball++;
}
else
{
NormalGame(env);
//连续发自由球怎么办????
if(p->oldball.x >71-3 && p->oldball.x <71+3 )//限制坐标x
{
if(p->oldball.y >65-3 && p->oldball.y <65+3 )//限制坐标y
{//上方
if( (p->myoldpos[3].x >62 -3 && p->myoldpos[3].x <62 +3)
&&(p->myoldpos[3].y >65 -3 && p->myoldpos[3].y <65 +3) )//检测robot坐标
p->nfreeball =0;
}
else if(p->oldball.y >18-3 && p->oldball.y <18+3 )//限制坐标y
{//上方
if( (p->myoldpos[3].x >62 -3 && p->myoldpos[3].x <62 +3)
&&(p->myoldpos[3].y >18 -3 && p->myoldpos[3].y <18 +3) )//检测robot坐标
p->nfreeball =0;
}
}
}
Goalie(env,1);
Goalie(env,0);
break;
case PLACE_KICK: //2:
//Place kick(Kickoff)
p->chooserobot = 0;
p->npenaltyball =0;
p->nfreeball =0;
NormalGame(env);
break;
case PENALTY_KICK: //3:
//Penatly kick
p->nfreeball =0;
if(p->npenaltyball < 46)
{//还处于点球状态
if(p->oldball.x > (FLEFT+FRIGHT)/2 )
{
Penalty(env);//我方发点球
Goalie(env,1);
Goalie(env,0);
}
else
AuntPenalty(env);
p->npenaltyball++; //自加计数
}
else
{
if( (p->oldball.x >77 && p->oldball.x < 80) //x
&& (p->oldball.y > 40 && p->oldball.y < 43) //y
&& (p->opp[1].pos.x < 52) && (p->opp[2].pos.x < 52)//用对方4个球员判断够了吧
&& (p->opp[3].pos.x < 52)&& (p->opp[4].pos.x < 52)
)
{//是否连续点球,我发球!!
p->npenaltyball =0;
p->chooserobot = 0;
}
else if( (p->oldball.x >20 && p->oldball.x < 24) //x
&& (p->oldball.y > 40 && p->oldball.y < 43) //y
&& (p->myoldpos[1].x > 48) && (p->myoldpos[2].x > 48)//用对方4个球员判断够了吧
&& (p->myoldpos[3].x > 48 )&& (p->myoldpos[4].x > 48)
)
{
p->npenaltyball =0;
p->chooserobot = 0;
}
else
{//比赛正常!!
NormalGame(env);
}
}
break;
case FREE_KICK: //4:
//Free kick
p->nfreeball =0;
p->chooserobot = 0;
p->npenaltyball =0;
NormalGame(env);
break;
case GOAL_KICK: //5:
//Goal kick
p->nfreeball =0;
p->chooserobot = 0;
p->npenaltyball =0;
NormalGame(env);
break;
default :
p->nfreeball =0;
p->chooserobot = 0;
p->npenaltyball =0;
NormalGame(env);
break;
}
}
//////
/*AuntPenalty 防点球策略
*/
//
void AuntPenalty ( Environment *env )
{//防点球
Mydata * p;
p=(Mydata *)env->userData;
Vector3D go;
int robot=0;
{//先校正姿态，再去拦球
double OX= FLEFT - (GTOP - GBOT); // 该点为球门中心 向后移动半个球门
double OY= (FTOP + FBOT)/2; //球门中心
double ballx=p->curball.x ;
double bally=p->curball.y ;
double gx = p->robot[robot].pos.x ;
double gx_outline = FLEFT + 2.2; //对x坐标的限定，防止离球门线太远了
double gx_inline = FLEFT + 1.8;
double gy = p->robot[robot].pos.y; //跑位点,初值为当前位置
double goalline = FLEFT + 3;
bool notout= true; //不出击
bool standby = false; //限制x 坐标
bool XX=false; //是否旋转
if( XX && ballx < gx + 0.5 )
{//旋转
if(bally < gy && bally > gy-4 )
{
Velocity(env,robot,-125,125);
return ;
}
else if(bally > gy && bally < gy+4)
{
Velocity(env,robot,125,-125);
return ;
}
}
gy = OY + ( goalline - OX ) * (bally - OY)/(ballx - OX);
if(notout)
{
if(gy > GTOP)
gy = GTOP;
else if(gy < GBOT)
gy = GBOT;
}
go.y = gy ;
if(standby)
{
if(gx > gx_outline )
gx = gx_outline;
else if(gx < gx_inline)
gx = gx_inline;
}
go.x = gx ;
GoaliePosition(env,robot,go,90,1.5);
}
go.x =10;
go.y =p->robot[3].pos.y;
PositionAndStop(env,3,go,90);
go.x =10;
go.y =p->robot[2].pos.y;
PositionAndStop(env,2,go,90);
go.x =20;
go.y =45;
PositionAndStop(env,1,go,90);
go.x =20;
go.y =38;
PositionAndStop(env,4,go,90);
}
void Penalty ( Environment *env )
{//这个点球踢法，可能只针对那种守门员只是在门区防守的
Mydata * p;
p=(Mydata *)env->userData;
/*Vector3D pos;
pos.x=FRIGHT;
pos.y=40;
Kick(env,2,pos);*/
PredictBall(env,2);
PositionBallX(env,2,p->preball,240,1.5);
}
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