playerteams.cpp~

对于2D ROBOCUP底层传球和定位球方面进行了严格的修改该

				  0.4 * SS->getGoalWidth() );*/
				  if( WM -> isVisible( OBJECT_TEAMMATE_7))
					  soc = kickTo( posGoal, 1.0 ); // kick ball
				  else
					  soc = searchBall();
				  Log.log( 100, "NO.2 take right kick in" );        
				  ACT->putCommandInQueue( soc );
				  ACT->putCommandInQueue( turnNeckToPoint( WM -> getGlobalPosition (OBJECT_BALL) + temp2, soc) );
				  return soc;
			  }
		  }
		  else if(WM -> getPlayerNumber() == 7)
		  {
			  if( WM->isVisible( OBJECT_BALL) )
			  {
				  VecPosition temp( 0,-8);
				  VecPosition posGoal = WM -> getGlobalPosition ( OBJECT_BALL) + temp ;
				  soc = moveToPos(posGoal,PS->getPlayerWhenToTurnAngle());
			  }
			  else
			  {
				  soc = intercept( false );    // intercept the ball //false是指对象是不是门将 
			  }
			  Log.log( 100, "NO.7 move to receive the ball" );
			  ACT->putCommandInQueue( soc );
			  ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
			  return soc;
		  }
	  }
	  else if(WM -> isFreeKickUs() && WM -> getGlobalPosition(OBJECT_BALL).isLeftOf(0.00) //前场左边任意球
			 && WM -> getGlobalPosition(OBJECT_BALL).isInFrontOf(0.00))
	  {
		  const double d = 9.150;
		  VecPosition standard( 36.0, 0.0);
		  VecPosition freeKickBall = WM -> getGlobalPosition(OBJECT_BALL);
		  VecPosition vector = standard - freeKickBall;
		  VecPosition receiveFreeKickBall;
		  VecPosition kickBallPoint;
		  receiveFreeKickBall.setX( freeKickBall.getX() + d * vector.getX() / vector.getMagnitude());
		  receiveFreeKickBall.setY( freeKickBall.getY() + d * vector.getY() / vector.getMagnitude());
		  kickBallPoint.setX( freeKickBall.getX() - ( vector.getX() / vector.getMagnitude())/2);
		  kickBallPoint.setY( freeKickBall.getY() - ( vector.getY() / vector.getMagnitude())/2);
		  if( WM->getPlayerNumber() == 11)
		  {
			  VecPosition distance;
			  distance = posAgent - kickBallPoint;
			  if( distance.getMagnitude() > 0.3) 
			  {
				  soc = moveToPos(kickBallPoint,PS->getPlayerWhenToTurnAngle());
				  Log.log( 100, "NO.11 move to ball to take left kick-in" );
			  }	 
			  else
			  {
				  if( WM -> getRelativeDistance( OBJECT_TEAMMATE_8) < d + 0.8)
					  soc = kickTo( receiveFreeKickBall, 1.0 ); // kick ball
				  else
					  soc = searchBall();
				  Log.log( 100, "NO.11 take left front free kick" );        
				  ACT->putCommandInQueue( soc );
				  ACT->putCommandInQueue( turnNeckToPoint( WM -> getGlobalPosition (OBJECT_BALL), soc) );
				  return soc;
			  }
		  }		
		else if(WM -> getPlayerNumber() == 8)
			soc = moveToPos(receiveFreeKickBall,PS->getPlayerWhenToTurnAngle());
		Log.log( 100, "NO.8 move to receive the ball" );
		ACT->putCommandInQueue( soc );
		ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
	}
	  else if(WM -> isFreeKickUs() && WM -> getGlobalPosition(OBJECT_BALL).isRightOf(0.00) //前场右边任意球
			 && WM -> getGlobalPosition(OBJECT_BALL).isInFrontOf(0.00))
	  {
		  const double d = 9.150;
		  VecPosition standard( 36.0, 0.0);
		  VecPosition freeKickBall = WM -> getGlobalPosition(OBJECT_BALL);
		  VecPosition vector = standard - freeKickBall;
		  VecPosition receiveFreeKickBall;
		  VecPosition kickBallPoint;
		  receiveFreeKickBall.setX( freeKickBall.getX() + d * vector.getX() / vector.getMagnitude());
		  receiveFreeKickBall.setY( freeKickBall.getY() + d * vector.getY() / vector.getMagnitude());
		  kickBallPoint.setX( freeKickBall.getX() - ( vector.getX() / vector.getMagnitude())/2);
		  kickBallPoint.setY( freeKickBall.getY() - ( vector.getY() / vector.getMagnitude())/2);
		  if( WM->getPlayerNumber() == 10)
		  {
			  VecPosition distance;
			  distance = posAgent - kickBallPoint;
			  if( distance.getMagnitude() > 0.3) 
			  {
				  soc = moveToPos(kickBallPoint,PS->getPlayerWhenToTurnAngle());
				  Log.log( 100, "NO.10 move to ball to take left front free kick" );
			  }	 
			  else
			  {
				  if( WM -> getRelativeDistance( OBJECT_TEAMMATE_7) < d + 0.8)
					  soc = kickTo( receiveFreeKickBall, 1.0 ); // kick ball
				  else
					  soc = searchBall();
				  Log.log( 100, "NO.10 take left front free kick" );        
				  ACT->putCommandInQueue( soc );
				  ACT->putCommandInQueue( turnNeckToPoint( WM -> getGlobalPosition (OBJECT_BALL), soc) );
				  return soc;
			  }
		  }		
		  else if(WM -> getPlayerNumber() == 7)
			  soc = moveToPos(receiveFreeKickBall,PS->getPlayerWhenToTurnAngle());
		  Log.log( 100, "NO.7 move to receive the ball" );
		  ACT->putCommandInQueue( soc );
		  ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
	  }
	  else if(WM -> isFreeKickUs() && WM -> getGlobalPosition(OBJECT_BALL).isLeftOf(0.00) //后场左边任意球
			 && WM -> getGlobalPosition(OBJECT_BALL).isBehindOf(0.00))
	  {
		  const double d = 9.150;
		  VecPosition freeKickBall = WM -> getGlobalPosition(OBJECT_BALL);
		  VecPosition receiveFreeKickBall;
		  VecPosition temp(-0.3,-0.3);
		  receiveFreeKickBall.setX(freeKickBall.getX() + 0.7 * d);
		  receiveFreeKickBall.setY(freeKickBall.getY() + 0.7 * d);
		  if( WM->getPlayerNumber() == 5)
		  {
			  VecPosition posGoal1 = WM -> getGlobalPosition ( OBJECT_BALL) + temp;
			  VecPosition distance;
			  distance = posAgent - posGoal1;
			  if( distance.getMagnitude() > 0.3) 
			  {
				  soc = moveToPos(posGoal1,PS->getPlayerWhenToTurnAngle());
				  Log.log( 100, "NO.5 move to ball to take left front free kick" );
			  }	 
			  else
			  {
				  if( WM -> getRelativeDistance( OBJECT_TEAMMATE_8) < d + 0.8)
					  soc = kickTo( receiveFreeKickBall, 1.0 ); // kick ball
				  else
					  soc = searchBall();
				  Log.log( 100, "NO.5 take left front free kick" );        
				  ACT->putCommandInQueue( soc );
				  ACT->putCommandInQueue( turnNeckToPoint( WM -> getGlobalPosition (OBJECT_BALL), soc) );
				  return soc;
			  }
		  }		
		  else if(WM -> getPlayerNumber() == 8)
			  soc = moveToPos(receiveFreeKickBall,PS->getPlayerWhenToTurnAngle());
		  Log.log( 100, "NO.8 move to receive the ball" );
		  ACT->putCommandInQueue( soc );
		  ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
	  }
	  else if(WM -> isFreeKickUs() && WM -> getGlobalPosition(OBJECT_BALL).isRightOf(0.00) //后场右边任意球
			 && WM -> getGlobalPosition(OBJECT_BALL).isBehindOf(0.00))
	  {
		  const double d = 9.150;
		  VecPosition freeKickBall = WM -> getGlobalPosition(OBJECT_BALL);
		  VecPosition receiveFreeKickBall;
		  VecPosition temp(-0.3,+0.3);
		  receiveFreeKickBall.setX(freeKickBall.getX() + 0.7 * d);
		  receiveFreeKickBall.setY(freeKickBall.getY() - 0.7 * d);
		  if( WM->getPlayerNumber() == 2)
		  {
			  VecPosition posGoal1 = WM -> getGlobalPosition ( OBJECT_BALL) + temp;
			  VecPosition distance;
			  distance = posAgent - posGoal1;
			  if( distance.getMagnitude() > 0.3) 
			  {
				  soc = moveToPos(posGoal1,PS->getPlayerWhenToTurnAngle());
				  Log.log( 100, "NO.2 move to ball to take left front free kick" );
			  }	 
			  else
			  {
				  if( WM -> getRelativeDistance( OBJECT_TEAMMATE_7) < d + 0.8)
					  soc = kickTo( receiveFreeKickBall, 1.0 ); // kick ball
				  else
					  soc = searchBall();
				  Log.log( 100, "NO.2 take left front free kick" );        
				  ACT->putCommandInQueue( soc );
				  ACT->putCommandInQueue( turnNeckToPoint( WM -> getGlobalPosition (OBJECT_BALL), soc) );
				  return soc;
			  }
		  }		
		  else if(WM -> getPlayerNumber() == 7)
			  soc = moveToPos(receiveFreeKickBall,PS->getPlayerWhenToTurnAngle());
		  Log.log( 100, "NO.7 move to receive the ball" );
		  ACT->putCommandInQueue( soc );
		  ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
	  }
	  else if(WM -> isCornerKickUs() && WM -> getGlobalPosition(OBJECT_BALL).isLeftOf(0.00))
	  {
		  const double d = 9.150;
		  VecPosition freeKickBall = WM -> getGlobalPosition(OBJECT_BALL);
		  VecPosition receiveFreeKickBall;
		  receiveFreeKickBall.setX(freeKickBall.getX() - 0.7 * d);
		  receiveFreeKickBall.setY(freeKickBall.getY() + 0.7 * d);
		  if( WM->getPlayerNumber() == 8)
		  {
			  VecPosition temp1( 0.6,-0.6);
			  VecPosition posGoal1 = WM -> getGlobalPosition ( OBJECT_BALL) + temp1 ;
			  VecPosition distance;
			  distance = posAgent - posGoal1;
			  if( distance.getMagnitude() > 0.3) 
			  {
				  soc = moveToPos(posGoal1,PS->getPlayerWhenToTurnAngle());
				  Log.log( 100, "NO.8 move to ball to take left front free kick" );
			  }	 
			  else
			  {
				  if( WM -> isVisible( OBJECT_TEAMMATE_11))
					  soc = kickTo( receiveFreeKickBall, 1.0 ); // kick ball
				  else
					  soc = searchBall();
				  Log.log( 100, "NO.8 take left front free kick" );        
				  ACT->putCommandInQueue( soc );
				  ACT->putCommandInQueue( turnNeckToPoint( WM -> getGlobalPosition (OBJECT_BALL), soc) );
				  return soc;
			  }
		  }		
		  else if(WM -> getPlayerNumber() == 11)
			  soc = moveToPos(receiveFreeKickBall,PS->getPlayerWhenToTurnAngle());
		  Log.log( 100, "NO.11 move to receive the ball" );
		  ACT->putCommandInQueue( soc );
		  ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
	  }
	  else if(WM -> isCornerKickUs() && WM -> getGlobalPosition(OBJECT_BALL).isRightOf(0.00))
	  {
		  const double d = 9.150;
		  VecPosition freeKickBall = WM -> getGlobalPosition(OBJECT_BALL);
		  VecPosition receiveFreeKickBall;
		  receiveFreeKickBall.setX(freeKickBall.getX() - 0.7 * d);
		  receiveFreeKickBall.setY(freeKickBall.getY() - 0.7 * d);
		  if( WM->getPlayerNumber() == 7)
		  {
			  VecPosition temp1( 0.6,-0.6);
			  VecPosition posGoal1 = WM -> getGlobalPosition ( OBJECT_BALL) + temp1 ;
			  VecPosition distance;
			  distance = posAgent - posGoal1;
			  if( distance.getMagnitude() > 0.3) 
			  {
				  soc = moveToPos(posGoal1,PS->getPlayerWhenToTurnAngle());
				  Log.log( 100, "NO.8 move to ball to take left front free kick" );
			  }	 
			  else
			  {
				  if( WM -> isVisible( OBJECT_TEAMMATE_11))
					  soc = kickTo( receiveFreeKickBall, 1.0 ); // kick ball
				  else
					  soc = searchBall();
				  Log.log( 100, "NO.8 take left front free kick" );        
				  ACT->putCommandInQueue( soc );
				  ACT->putCommandInQueue( turnNeckToPoint( WM -> getGlobalPosition (OBJECT_BALL), soc) );
				  return soc;
			  }
		  }		
		  else if(WM -> getPlayerNumber() == 10)
			  soc = moveToPos(receiveFreeKickBall,PS->getPlayerWhenToTurnAngle());
		  Log.log( 100, "NO.11 move to receive the ball" );
		  ACT->putCommandInQueue( soc );
		  ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
	  }
	  ACT->putCommandInQueue( soc );
	  ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
	  return soc;
  }
  else if( WM -> isDeadBallThem() )
  {
	  soc = searchBall();
	  ACT->putCommandInQueue( soc );
	  ACT->putCommandInQueue( turnNeckToPoint( WM -> getGlobalPosition (OBJECT_BALL), soc) );
	  return soc;
  }
  else if( WM->getPlayMode() == PM_PLAY_ON)
  {
	  formations->setFormation( FT_433_OFFENSIVE );
	  soc.commandType = CMD_ILLEGAL;
	  if ( WM->getConfidence ( OBJECT_BALL ) < PS->getBallConfThr() )//2009 4 24 20:29
	 {
		  ACT->putCommandInQueue ( soc = searchBall() );  // if ball pos unknown
		  ACT->putCommandInQueue ( alignNeckWithBody( ) ); // search for it
	  }
	 else if ( WM -> isBallKickable())//正常版本
	{
		if( WM -> getPlayerType() == PS_DEFENDERS)
		{}
		else if( WM -> getPlayerType() == PS_MIDFIELDERS)
		{}
		else if( WM -> getPlayerType() == PS_ATTACKERS)
		{}
		soc = dribble( WM->getRelAngleOpponentGoal(),DRIBBLE_SLOW);
		ACT->putCommandInQueue ( soc );
		ACT->putCommandInQueue ( turnNeckToObject ( OBJECT_BALL, soc ) );
		Log.log ( 100, "pass ball" );
	}	
	  else if ( WM->getFastestInSetTo ( OBJECT_SET_TEAMMATES, OBJECT_BALL, &iTmp ) //拦截球
			   == WM->getAgentObjectType()  && !WM->isDeadBallThem() )