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

	  {
		// if fastest to ball
		  Log.log ( 100, "I am fastest to ball; can get there in %d cycles", iTmp );
		  soc = intercept ( false );                     // intercept the ball
	
		  if ( soc.commandType == CMD_DASH &&            // if stamina low
				     WM->getAgentStamina().getStamina() <
				     SS->getRecoverDecThr() *SS->getStaminaMax() +200 )
		  {
			  soc.dPower = 30.0 * WM->getAgentStamina().getRecovery(); // dash slow
			  ACT->putCommandInQueue ( soc );
			  ACT->putCommandInQueue ( turnNeckToObject ( OBJECT_BALL, soc ) );
		  }
		  else                                           // if stamina high
		  {
			  ACT->putCommandInQueue ( soc );              // dash as intended
			  ACT->putCommandInQueue ( turnNeckToObject ( OBJECT_BALL, soc ) );
		  }
	  }
	  else if ( posAgent.getDistanceTo ( WM->getStrategicPosition() ) >
			   1.5 + fabs ( posAgent.getX()-posBall.getX() ) /10.0 )
		// if not near strategic pos
	  {
		  if ( WM->getAgentStamina().getStamina() >    // if stamina high
				     SS->getRecoverDecThr() *SS->getStaminaMax() +800 )
		  {
			  soc = moveToPos ( WM->getStrategicPosition(),
					    PS->getPlayerWhenToTurnAngle() );
			  ACT->putCommandInQueue ( soc );           // move to strategic pos
			  ACT->putCommandInQueue ( turnNeckToObject ( OBJECT_BALL, soc ) );
		  }
		  else                                        // else watch ball
		  {
			  ACT->putCommandInQueue ( soc = turnBodyToObject ( OBJECT_BALL ) );
			  ACT->putCommandInQueue ( turnNeckToObject ( OBJECT_BALL, soc ) );
		  }
	  }
	  else if ( fabs ( WM->getRelativeAngle ( OBJECT_BALL ) ) > 1.0 ) // watch ball
	  {
		  ACT->putCommandInQueue ( soc = turnBodyToObject ( OBJECT_BALL ) );
		  ACT->putCommandInQueue ( turnNeckToObject ( OBJECT_BALL, soc ) );
	  }
	  else                                         // nothing to do
		  ACT->putCommandInQueue ( SoccerCommand ( CMD_TURNNECK,0.0 ) );
  }  

  else 
  {
        formations->setFormation( FT_433_OFFENSIVE );
	soc.commandType = CMD_ILLEGAL;
	
	if ( WM->getConfidence ( OBJECT_BALL ) < PS->getBallConfThr() )
	{
		ACT->putCommandInQueue ( soc = searchBall() );  // if ball pos unknown
		ACT->putCommandInQueue ( alignNeckWithBody( ) ); // search for it
	}
	/*else if ( WM -> isBallKickable())
	{
		VecPosition posGoal( PITCH_LENGTH/2.0,
				     (-1 + 2*(WM->getCurrentCycle()%2)) * 
	拿了球就踢的版本					     0.4 * SS->getGoalWidth() );
		soc = kickTo( posGoal, SS->getBallSpeedMax() ); // kick maximal
		Log.log( 100, "take kick in" );        
	} */
	else if ( WM -> isBallKickable())//正常版本
	{
		
		soc = dribble ( 0,DRIBBLE_FAST );
		VecPosition posPassGoal = WM -> getGlobalPosition ( WM -> getClosestRelativeInSet ( OBJECT_SET_TEAMMATES_NO_GOALIE) ); //关于object T 以及最终实现为最近的人传球。。。
		soc = kickTo( posPassGoal, SS->getBallSpeedMax() );
		ACT->putCommandInQueue ( soc );
		ACT->putCommandInQueue ( turnNeckToObject ( OBJECT_BALL, soc ) );
		Log.log ( 100, "pass ball" );
	}
	/*else if ( WM->isBallKickable() )                  // if kickable
	{
		VecPosition posGoal ( PITCH_LENGTH/2.0,
					( -1 + 2* ( WM->getCurrentCycle() %2 ) ) * 0.4 * SS->getGoalWidth() );
		soc = dribble ( 0,DRIBBLE_FAST ); // kick maximal
	无脑带球版本
		ACT->putCommandInQueue ( soc );
		ACT->putCommandInQueue ( turnNeckToObject ( OBJECT_BALL, soc ) );
		Log.log ( 100, "kick ball" );
	}*/
	else if ( WM->getFastestInSetTo ( OBJECT_SET_TEAMMATES, OBJECT_BALL, &iTmp )
			== WM->getAgentObjectType()  && !WM->isDeadBallThem() )
	{
		// if fastest to ball
		Log.log ( 100, "I am fastest to ball; can get there in %d cycles", iTmp );
		soc = intercept ( false );                     // intercept the ball
	
		if ( soc.commandType == CMD_DASH &&            // if stamina low
			WM->getAgentStamina().getStamina() <
			SS->getRecoverDecThr() *SS->getStaminaMax() +200 )
		{
			soc.dPower = 30.0 * WM->getAgentStamina().getRecovery(); // dash slow
			ACT->putCommandInQueue ( soc );
			ACT->putCommandInQueue ( turnNeckToObject ( OBJECT_BALL, soc ) );
		}
		else                                           // if stamina high
		{
			ACT->putCommandInQueue ( soc );              // dash as intended
			ACT->putCommandInQueue ( turnNeckToObject ( OBJECT_BALL, soc ) );
		}
	}
	else if ( posAgent.getDistanceTo ( WM->getStrategicPosition() ) >
			1.5 + fabs ( posAgent.getX()-posBall.getX() ) /10.0 )
		// if not near strategic pos
	{
		if ( WM->getAgentStamina().getStamina() >    // if stamina high
			SS->getRecoverDecThr() *SS->getStaminaMax() +800 )
		{
			soc = moveToPos ( WM->getStrategicPosition(),
						PS->getPlayerWhenToTurnAngle() );
			ACT->putCommandInQueue ( soc );           // move to strategic pos
			ACT->putCommandInQueue ( turnNeckToObject ( OBJECT_BALL, soc ) );
		}
		else                                        // else watch ball
		{
			ACT->putCommandInQueue ( soc = turnBodyToObject ( OBJECT_BALL ) );
			ACT->putCommandInQueue ( turnNeckToObject ( OBJECT_BALL, soc ) );
		}
	}
	else if ( fabs ( WM->getRelativeAngle ( OBJECT_BALL ) ) > 1.0 ) // watch ball
	{
		ACT->putCommandInQueue ( soc = turnBodyToObject ( OBJECT_BALL ) );
		ACT->putCommandInQueue ( turnNeckToObject ( OBJECT_BALL, soc ) );
	}
	else                                         // nothing to do
		ACT->putCommandInQueue ( SoccerCommand ( CMD_TURNNECK,0.0 ) );
  }
 
return soc;
}


/*!This method is a simple goalie based on the goalie of the simple Team of
   FC Portugal. It defines a rectangle in its penalty area and moves to the
   position on this rectangle where the ball intersects if you make a line
   between the ball position and the center of the goal. If the ball can
   be intercepted in the own penalty area the ball is intercepted and catched.
*/
SoccerCommand Player::deMeer5_goalie(  )
{
  int i;
  SoccerCommand soc;
  VecPosition   posAgent = WM->getAgentGlobalPosition();
  AngDeg        angBody  = WM->getAgentGlobalBodyAngle();

  // define the top and bottom position of a rectangle in which keeper moves
  static const VecPosition posLeftTop( -PITCH_LENGTH/2.0 +
               0.7*PENALTY_AREA_LENGTH, -PENALTY_AREA_WIDTH/4.0 );
  static const VecPosition posRightTop( -PITCH_LENGTH/2.0 +
               0.7*PENALTY_AREA_LENGTH, +PENALTY_AREA_WIDTH/4.0 );

  // define the borders of this rectangle using the two points.
  static Line  lineFront = Line::makeLineFromTwoPoints(posLeftTop,posRightTop);
  static Line  lineLeft  = Line::makeLineFromTwoPoints(
                         VecPosition( -50.0, posLeftTop.getY()), posLeftTop );
  static Line  lineRight = Line::makeLineFromTwoPoints(
                         VecPosition( -50.0, posRightTop.getY()),posRightTop );


  if( WM->isBeforeKickOff( ) )
  {
    if( formations->getFormation() != FT_INITIAL || // not in kickoff formation
        posAgent.getDistanceTo( WM->getStrategicPosition() ) > 2.0 )  
    {
      formations->setFormation( FT_INITIAL );       // go to kick_off formation
      ACT->putCommandInQueue( soc=teleportToPos(WM->getStrategicPosition()) );
    }
    else                                            // else turn to center
    {
      ACT->putCommandInQueue( soc = turnBodyToPoint( VecPosition( 0, 0 ), 0 ));
      ACT->putCommandInQueue( alignNeckWithBody( ) );
    }
    return soc;
  }

  if( WM->getConfidence( OBJECT_BALL ) < PS->getBallConfThr() )
  {                                                // confidence ball too  low
    ACT->putCommandInQueue( searchBall() );        // search ball
    ACT->putCommandInQueue( alignNeckWithBody( ) );
  }
  else if( WM->getPlayMode() == PM_PLAY_ON || WM->isFreeKickThem() ||
           WM->isCornerKickThem() )               
  {
    if( WM->isBallCatchable() )
    {
      ACT->putCommandInQueue( soc = catchBall() );
      ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
    }
     else if( WM->isBallKickable() )
    {
       soc = kickTo( VecPosition(0,posAgent.getY()*2.0), 2.0 );    
       ACT->putCommandInQueue( soc );
       ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
    }
    else if( WM->isInOwnPenaltyArea( getInterceptionPointBall( &i, true ) ) &&
             WM->getFastestInSetTo( OBJECT_SET_PLAYERS, OBJECT_BALL, &i ) == 
                                               WM->getAgentObjectType() )
    {
      ACT->putCommandInQueue( soc = intercept( true ) );
      ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
    }
    else
    {
      // make line between own goal and the ball
      VecPosition posMyGoal = ( WM->getSide() == SIDE_LEFT )
             ? SoccerTypes::getGlobalPositionFlag(OBJECT_GOAL_L, SIDE_LEFT )
             : SoccerTypes::getGlobalPositionFlag(OBJECT_GOAL_R, SIDE_RIGHT);
      Line lineBall = Line::makeLineFromTwoPoints( WM->getBallPos(),posMyGoal);

      // determine where your front line intersects with the line from ball
      VecPosition posIntersect = lineFront.getIntersection( lineBall );

      // outside rectangle, use line at side to get intersection
      if (posIntersect.isRightOf( posRightTop ) )
        posIntersect = lineRight.getIntersection( lineBall );
      else if (posIntersect.isLeftOf( posLeftTop )  )
        posIntersect = lineLeft.getIntersection( lineBall );

      if( posIntersect.getX() < -49.0 )
        posIntersect.setX( -49.0 );
        
      // and move to this position
      if( posIntersect.getDistanceTo( WM->getAgentGlobalPosition() ) > 0.5 )
      {
        soc = moveToPos( posIntersect, PS->getPlayerWhenToTurnAngle() );
        ACT->putCommandInQueue( soc );
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
      else
      {
        ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
    }
  }
  else if( WM->isFreeKickUs() == true || WM->isGoalKickUs() == true )
  {
    if( WM->isBallKickable() )
    {
      if( WM->getTimeSinceLastCatch() == 25 && WM->isFreeKickUs() )
      {
        // move to position with lesser opponents.
        if( WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, 
                                          Circle(posRightTop, 15.0 )) <
            WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, 
                                           Circle(posLeftTop,  15.0 )) )
          soc.makeCommand( CMD_MOVE,posRightTop.getX(),posRightTop.getY(),0.0);
        else
          soc.makeCommand( CMD_MOVE,posLeftTop.getX(), posLeftTop.getY(), 0.0);
        ACT->putCommandInQueue( soc );
      }
      else if( WM->getTimeSinceLastCatch() > 28 )
      {
        soc = kickTo( VecPosition(0,posAgent.getY()*2.0), 2.0 );    
        ACT->putCommandInQueue( soc );
      }
      else if( WM->getTimeSinceLastCatch() < 25 )
      {
        VecPosition posSide( 0.0, posAgent.getY() ); 
        if( fabs( (posSide - posAgent).getDirection() - angBody) > 10 )
        {
          soc = turnBodyToPoint( posSide );
          ACT->putCommandInQueue( soc );
        }
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
    }
    else if( WM->isGoalKickUs()  )
    {
      ACT->putCommandInQueue( soc = intercept( true ) );
      ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
    }
    else
      ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
  }
  else
  {
     ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
     ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
  }
  return soc;
}