team1.txt

FIRA 5v5 示例策略程序

--StrategyB---------------------------------------
--------------------------------------------------
--BlueTeam------------------------------------------------
global i
global ftop, fbot, gRight, gLeft, fRightX,fLeftX
global b1,b2,b3,b4,b5,ball
--------------------
on strategyB
  --run(b3)
  goalie1(b1)
  attack2(b4)
  attack2(b5)
 defend1(b2)
defend2(b3)
end
on run(who)
  if  i > 120 then
    velocity(who,75,75) 
  end if 
  if i  > 150 then 
    velocity(b3,75,0) 
  end if 
  if i  > 160 then 
    velocity(b3,0,0) 
    
  end if 
  if i  > 850 then 
    velocity(b3,125,125) 
    
  end if 
end

on Goalie1(whichBot)
  vr = 0
  vl = 0
  Z = ball
  Tx = gRight - Z.x
  Ty = ftop - Z.y
  A = whichBot.pos
  A.x = gRight - A.x
  A.y = ftop - A.y
  
  if A.y > Ty + .9 and A.y > 27 then
    vr = -100
    vl = -100
  end if 
  if A.y < Ty -.9 and A.y < 43 then
    vr = 100
    vl =100
    
  end if 
  if A.y < 27 then
    vr = 100
    vl =100
  end if 
  if A.y >43 then
    vr = -100
    vl = -100
  end if 
  --------correct rot--------------------
  tR = whichBot.rot.z 
  if  tR < .001 then tR = tR + 360
  if tR >360.001 then tR = tR - 360
  if tR > 270.5 then 
    vl = vl + abs(tR - 270)
  else if tR < 269.5 then 
    vr = vr + abs(tR - 270)
  end if 
  --------------------
  velocity(whichBot , vl, vr)
end
------------------
on defend1(whichBot)
  vr = 0
  vl = 0
  Z = ball
  Tx = gRight - Z.x
  Ty = ftop - Z.y
  A = whichBot.pos
  A.x = gRight - A.x
  A.y = ftop - A.y
  
  if A.y > Ty + .9 and A.y > 40 then
    vr = -100
    vl = -100
  end if 
  if A.y < Ty -.9 and A.y < 70 then
    vr = 100
    vl =100
    
  end if 
  if A.y < 40 then
    vr = 100
    vl =100
  end if 
  if A.y >70 then
    vr = -100
    vl = -100
  end if 
  --------correct rot--------------------
  tR = whichBot.rot.z 
  if  tR < .001 then tR = tR + 360
  if tR >360.001 then tR = tR - 360
  if tR > 270.5 then 
    vl = vl + abs(tR - 270)
  else if tR < 269.5 then 
    vr = vr + abs(tR - 270)
  end if 
  --------------------
 nearBound2(whichBot,vl,vr)
end
-----------------
on defend2(whichBot)
  vr = 0
  vl = 0
  Z = ball
  Tx = gRight - Z.x
  Ty = ftop - Z.y
  A = whichBot.pos
  A.x = gRight - A.x
  A.y = ftop - A.y
  
  if A.y > Ty + .9 and A.y > 0 then
    vr = -100
    vl = -100
  end if 
  if A.y < Ty -.9 and A.y < 35 then
    vr = 100
    vl =100
    
  end if 
  if A.y < 0 then
    vr = 100
    vl =100
  end if 
  if A.y >35 then
    vr = -100
    vl = -100
  end if 
  --------correct rot--------------------
  tR = whichBot.rot.z 
  if  tR < .001 then tR = tR + 360
  if tR >360.001 then tR = tR - 360
  if tR > 270.5 then 
    vl = vl + abs(tR - 270)
  else if tR < 269.5 then 
    vr = vr + abs(tR - 270)
  end if 
  --------------------
 nearBound2(whichBot,vl,vr)
end
------------------
on attack2(whichBot)
  T = ball
  A = whichBot.pos
  R = whichBot.rot .z
  if  R < 0 then R = R + 360
  if R >360 then R = R - 360
  vr = 0
  vl=20
  
  if abs(a.y - t.y) > 7 or t.x > a.x then
    ---------------------------------attackpoint
    if t.y > (ftop - 2.5) then t.y = (ftop - 2.5)
    if t.y < (fbot + 2.5) then t.y = (fbot + 2.5)
    if t.x >(fRightX - 3) then t.x = (fRightX - 3)
    if t.x <(fLeftX +3) then t.x = (fLeftX +3)
    dX = (A.x) -T.x
    dY = A.y - T.y 
    -----------------------
    if(dX - 5  = 0) Then
      if(dY > 0) then 
        angleToPoint = 270.0
        -- angleToPoint = 90.0
      else
        angleToPoint = 90.0
        	-- angleToPoint = 270.0
      end if 
    else if(dY = 0) Then
      if(dX  - 5> 0) then
        	 angleToPoint = 360.0
      else 
        	angleToPoint = 180.0
      	end if 
    else    
      angleToPoint = atan(abs(dY/dX)) * 180.0/pi()
    end if 
    if(dX  - 5 > 0) then
      if(dY > 0) then
        	  angleToPoint = angleToPoint - 180
      else  if(dY < 0) then 
        	angleToPoint = 180.0 - angleToPoint
      	end if 
    end if
    if(dX - 5 < 0) then
      if(dY > 0) then
        	  angleToPoint = 180 -angleToPoint -180
      else  if(dY < 0) then 
        	angleToPoint = 270 - angleToPoint -180
      	end if      
    end if 
    if  angleToPoint < 0 then angleToPoint = angleToPoint +360
    if  angleToPoint > 360 then angleToPoint = angleToPoint -360
    if  angleToPoint > 360 then angleToPoint = angleToPoint -360
    -------------------------
    C = R 
    
    if  abs(C  - (angleToPoint )) < 40  then 
      vr = 100
      vl= 100
      if C > angletopoint then 
        vr = vr - 10
      end if 
      if C < angleToPoint then
        vl = vl - 10
      end if 
    else 
      if  R  > (angleToPoint )  then 
        vl = vl + abs(R - angleToPoint)
      end if
      if  R < (angleToPoint ) then 
        vr = vr + abs(R - angleToPoint)
      end if      
    end if 
    ---------------------------------attackpoint
  else
    ---------------------------------attackball
    if t.y > (ftop - 2.5) then t.y = (ftop - 2.5)
    if t.y < (fbot + 2.5) then t.y = (fbot + 2.5)
    if t.x >(fRightX - 3) then t.x = (fRightX - 3)
    if t.x <(fLeftX +3) then t.x = (fLeftX +3)
    dX = (A.x) -T.x
    dY = A.y - T.y 
    -----------------------
    if(dX = 0) Then
      if(dY > 0) then 
        angleToPoint = 270.0
        -- angleToPoint = 90.0
      else
        angleToPoint = 90.0
        	-- angleToPoint = 270.0
      end if 
    else if(dY = 0) Then
      if(dX > 0) then
        	 angleToPoint = 360.0
      else 
        	angleToPoint = 180.0
      	end if 
    else    
      angleToPoint = atan(abs(dY/dX)) * 180.0/pi()
    end if 
    if(dX > 0) then
      if(dY > 0) then
        	  angleToPoint = angleToPoint - 180
      else  if(dY < 0) then 
        	angleToPoint = 180.0 - angleToPoint
      	end if 
    end if
    if(dX < 0) then
      if(dY > 0) then
        	  angleToPoint = 180 -angleToPoint -180
      else  if(dY < 0) then 
        	angleToPoint = 270 - angleToPoint -180
      	end if      
    end if 
    if  angleToPoint < 0 then angleToPoint = angleToPoint +360
    if  angleToPoint > 360 then angleToPoint = angleToPoint -360
    if  angleToPoint > 360 then angleToPoint = angleToPoint -360
    -------------------------
    C = R 
    
    if  abs(C  - (angleToPoint )) < 40  then 
      vr = 100
      vl= 100
      if C > angletopoint then 
        vr = vr- 10
      end if 
      if C < angleToPoint then
        vl = vl -10
      end if 
    else 
      if  R  > (angleToPoint )  then 
        vl = vl + abs(R - angleToPoint)
      end if
      if  R < (angleToPoint ) then 
        vr = vr + abs(R - angleToPoint)
      end if 
    end if 
    ---------------------------------attackball
  end if 
  
  nearBound2(whichBot,vl,vr)
end
----------------------------
on supp(whichBot)
  T = Ball
  t.x = t.x + 10
  if t.X > (gright-20) then
    t.x = 20
  end if 
  
  A = whichBot.pos
  R = whichBot.rot .z
  if  R < 0 then R = R + 360
  if R >360 then R = R - 360
  vr = 0
  vl=20
  
  if abs(a.y - t.y) > 7 or t.x > a.x then
    ---------------------------------attackpoint
    if t.y > (ftop - 2.5) then t.y = (ftop - 2.5)
    if t.y < (fbot + 2.5) then t.y = (fbot + 2.5)
    if t.x >(fRightX - 3) then t.x = (fRightX - 3)
    if t.x <(fLeftX +3) then t.x = (fLeftX +3)
    dX = (A.x) -T.x
    dY = A.y - T.y 
    -----------------------
    if(dX - 5  = 0) Then
      if(dY > 0) then 
        angleToPoint = 270.0
        -- angleToPoint = 90.0
      else
        angleToPoint = 90.0
        -- angleToPoint = 270.0
      end if 
    else if(dY = 0) Then
      if(dX  - 5> 0) then
        angleToPoint = 360.0
      else 
        angleToPoint = 180.0
      end if 
    else    
      angleToPoint = atan(abs(dY/dX)) * 180.0/pi()
    end if 
    if(dX  - 5 > 0) then
      if(dY > 0) then
        angleToPoint = angleToPoint - 180
      else  if(dY < 0) then 
        angleToPoint = 180.0 - angleToPoint
      end if 
    end if
    if(dX - 5 < 0) then
      if(dY > 0) then
        angleToPoint = 180 -angleToPoint -180
      else  if(dY < 0) then 
        angleToPoint = 270 - angleToPoint -180
      end if      
    end if 
    if  angleToPoint < 0 then angleToPoint = angleToPoint +360
    if  angleToPoint > 360 then angleToPoint = angleToPoint -360
    if  angleToPoint > 360 then angleToPoint = angleToPoint -360
    -------------------------
    C = R 
    
    if  abs(C  - (angleToPoint )) < 40  then 
      vr = 100
      vl= 100
      if C > angletopoint then 
        vr = vr - 10
      end if 
      if C < angleToPoint then
        vl = vl - 10
      end if 
    else 
      if  R  > (angleToPoint )  then 
        vl = vl + abs(R - angleToPoint)
      end if
      if  R < (angleToPoint ) then 
        vr = vr + abs(R - angleToPoint)
      end if      
    end if 
    ---------------------------------attackpoint
  else
    ---------------------------------attackball
    if t.y > (ftop - 2.5) then t.y = (ftop - 2.5)
    if t.y < (fbot + 2.5) then t.y = (fbot + 2.5)
    if t.x >(fRightX - 3) then t.x = (fRightX - 3)
    if t.x <(fLeftX +3) then t.x = (fLeftX +3)
    dX = (A.x) -T.x
    dY = A.y - T.y 
    -----------------------
    if(dX = 0) Then
      if(dY > 0) then 
        angleToPoint = 270.0
        -- angleToPoint = 90.0
      else
        angleToPoint = 90.0
        -- angleToPoint = 270.0
      end if 
    else if(dY = 0) Then
      if(dX > 0) then
        angleToPoint = 360.0
      else 
        angleToPoint = 180.0
      end if 
    else    
      angleToPoint = atan(abs(dY/dX)) * 180.0/pi()
    end if 
    if(dX > 0) then
      if(dY > 0) then
        angleToPoint = angleToPoint - 180
      else  if(dY < 0) then 
        angleToPoint = 180.0 - angleToPoint
      end if 
    end if
    if(dX < 0) then
      if(dY > 0) then
        angleToPoint = 180 -angleToPoint -180
      else  if(dY < 0) then 
        angleToPoint = 270 - angleToPoint -180
      end if      
    end if 
    if  angleToPoint < 0 then angleToPoint = angleToPoint +360
    if  angleToPoint > 360 then angleToPoint = angleToPoint -360
    if  angleToPoint > 360 then angleToPoint = angleToPoint -360
    -------------------------
    C = R 
    
    if  abs(C  - (angleToPoint )) < 40  then 
      vr = 100
      vl= 100
      if C > angletopoint then 
        vr = vr- 10
      end if 
      if C < angleToPoint then
        vl = vl -10
      end if 
    else 
      if  R  > (angleToPoint )  then 
        vl = vl + abs(R - angleToPoint)
      end if
      if  R < (angleToPoint ) then 
        vr = vr + abs(R - angleToPoint)
      end if 
    end if 
    ---------------------------------attackball
  end if 
  
  nearBound(whichBot,vr,vl)
end
----------------------------

-----------------------------

on attack1(whichBot)
  vr = 0
  vl = 0
  T = member(1).model("Ball").transform.position
  T.x = gRight - T.x
  T.y = ftop - T.y
  A = whichBot.pos
  A.x = gRight - A.x
  A.y = ftop - A.y
  tR = whichBot.rot.z -180
  if  tR < .001 then tR = tR + 360
  if tR >360.001 then tR = tR - 360
  
  vr = 50
  vl = 50
  if A.x <(T.x -10) and tR >340 and tR < 20 then 
    vr = 50
    vl = 50
  else  if A.x <(T.x -10) and tR <340 or tR > 20 then 
    vr = 20
    vl = 20
  end if 
  if  A.x >(T.x -20) then    
    vr = 50
    vl = 50
  else if  A.x >(T.x -20) then   
    vr = 20
    vl = 20
  end if 
  if A.x <(T.x -15) then
    if tR < 340 and tR  > 180 then
      vr = vr+55
      vl =  vl - 30
    end if 
    if tR > 20 and tR < 180 then
      vr = vr -30
      vl = vl +55
    end if 
  end if 
  -----------
  if A.y <5 then
    vr = -100
    vl = -120
  end if 
  if A.y > ftop - fbot  - 5 then
    vr =  -120
    vl = -110
  end if 
  if A.x <5 then
    vr = -110
    vl = -120
  end if 
  if A.y > 56 then
    vr =  -120
    vl = -100
  end if 
  --------
  if A.x >(T.x -15) and tR <355 and tR > 180 and abs(A.y - T.y) < 1 then
    vr = vr+55
    vl =  vl 
  end if 
  if A.x >(T.x -15) and tR > 5 and tR < 180 and abs(A.y - T.y) < 1 then
    vr = vr 
    vl = vl +55
  end if 
  if A.x >(T.x -20) and A.y = (T.y ) and tR > 179 and  tR < 181 then
    vr = vr 
    vl =vl 
  else if A.x >(T.x -20) and A.x <(T.x -8) and A.y >(T.y) then
    vr = vr 
    vl =vl + 3
  else if  A.x >(T.x -20) and A.x <(T.x -8) and A.y <(T.y  )  then
    vr = vr +3
    vl =vl 
  end if 
  if  A.x >(T.x +1) then
    vr = 60
    vl = 40
    --else if  A.x>T.x - 1  then
    --vr = 50
    --vl =50
  end if 
  
  velocity(whichBot , vl, vr)
  
end
----------------------
on nearBound2(whichBot,vl,vr)
  T = ball
  A = whichBot.pos
  R = whichBot.rot .z
  
  
  if A.y > (ftop - 15) and R > 45 And R < 130 then 
    if vr > 0 then      
      vr = vr / 3
    end if 
    if vl > 0 then      
      vl = vl / 3
    end if 
  end if 
  
  if A.y < (fbot + 15) and R < -45 And R > -130 then
    if vr > 0 then      
      vr = vr / 3
    end if 
    if vl > 0 then      
      vl = vl / 3
    end if 
  end if 
  if A.x >(fRightX - 10) then
    if vr > 0 then      
      vr = vr / 2
    end if 
    if vl > 0 then      
      vl = vl / 2
    end if 
  end if 
  if A.x <(fLeftX +10) then
    if vr > 0 then      
      vr = vr / 2
    end if 
    if vl > 0 then      
      vl = vl / 2
    end if 
  end if 
  velocity(whichBot , vl,vr)
end
-----------------------------