Robotcup2D学习记录四

Robotcup2D学习记录四
这几天学习的重点我放在了如何修改代码的构思上,我个人想把修改的重点放在进攻球员身上，所以这几天反复看了一下进攻球员的代码，阅读记录如下：

bhv_prepare_set_play_kick
//这里的代码写的很简单，就是踢球前的准备动作
bool
Bhv_PrepareSetPlayKick::execute( PlayerAgent * agent )
{static int s_rest_wait_cycle = -1;// not reach the ball sideif ( Bhv_GoToStaticBall( M_ball_place_angle ).execute( agent ) ){return true;}// reach to ball sideif ( s_rest_wait_cycle < 0 ){s_rest_wait_cycle = M_wait_cycle;}
//设置为当前的cycleif ( s_rest_wait_cycle == 0 ){if ( agent->world().self().stamina() < ServerParam::i().staminaMax() * 0.9|| agent->world().seeTime() != agent->world().time() ){s_rest_wait_cycle = 1;}}if ( s_rest_wait_cycle > 0 ){if ( agent->world().gameMode().type() == GameMode::KickOff_ ){AngleDeg moment( ServerParam::i().visibleAngle() );agent->doTurn( moment );}else{Body_TurnToBall().execute( agent );}agent->setNeckAction( new Neck_ScanField() );s_rest_wait_cycle--;dlog.addText( Logger::TEAM,__FILE__": wait. rest cycles=%d",s_rest_wait_cycle );return true;}s_rest_wait_cycle = -1;return false;
}bhv_set_play_free_kick//球员踢球的动作
bool
Bhv_SetPlayFreeKick::execute( PlayerAgent * agent )
{dlog.addText( Logger::TEAM,__FILE__": Bhv_SetPlayFreeKick" );//---------------------------------------------------if ( Bhv_SetPlay::is_kicker( agent ) ){   //可以踢球就踢球doKick( agent );}else{   //不能踢球的情况下，移动doMove( agent );}return true;
}/*-------------------------------------------------------------------*/
/*!*/
void
Bhv_SetPlayFreeKick::doKick( PlayerAgent * agent )
{dlog.addText( Logger::TEAM,__FILE__": (doKick)" );//// go to the ball position//if ( Bhv_GoToStaticBall( 0.0 ).execute( agent ) ){return;}//// wait//if ( doKickWait( agent ) ){return;}//// kick//const WorldModel & wm = agent->world();const double max_ball_speed = wm.self().kickRate() * ServerParam::i().maxPower();//// pass//if ( Bhv_ChainAction().execute( agent ) ){agent->debugClient().addMessage( "FreeKick:Chain" );agent->setIntention( new IntentionWaitAfterSetPlayKick() );return;}const PlayerObject * nearest_teammate = wm.getTeammateNearestToSelf( 10, false ); // without goalieif ( nearest_teammate&& nearest_teammate->distFromSelf() < 20.0&& ( nearest_teammate->pos().x > -30.0|| nearest_teammate->distFromSelf() < 10.0 ) ){Vector2D target_point = nearest_teammate->inertiaFinalPoint();target_point.x += 0.5;
//这部分是传球的代码double ball_move_dist = wm.ball().pos().dist( target_point );int ball_reach_step= static_cast< int >( std::ceil( calc_length_geom_series( max_ball_speed,ball_move_dist,ServerParam::i().ballDecay() ) ) );double ball_speed = 0.0;if ( ball_reach_step > 3 ){ball_speed = calc_first_term_geom_series( ball_move_dist,ServerParam::i().ballDecay(),ball_reach_step );}else{ball_speed = calc_first_term_geom_series_last( 1.4,ball_move_dist,ServerParam::i().ballDecay() );ball_reach_step= static_cast< int >( std::ceil( calc_length_geom_series( ball_speed,ball_move_dist,ServerParam::i().ballDecay() ) ) );}ball_speed = std::min( ball_speed, max_ball_speed );
//对球的速度进行调整agent->debugClient().addMessage( "FreeKick:ForcePass%.3f", ball_speed );agent->debugClient().setTarget( target_point );dlog.addText( Logger::TEAM,__FILE__":  force pass. target=(%.1f %.1f) speed=%.2f reach_step=%d",target_point.x, target_point.y,ball_speed, ball_reach_step );Body_KickOneStep( target_point, ball_speed ).execute( agent );agent->setNeckAction( new Neck_ScanField() );return;}}//// clear//if ( ( wm.ball().angleFromSelf() - wm.self().body() ).abs() > 1.5 ){agent->debugClient().addMessage( "FreeKick:Clear:TurnToBall" );dlog.addText( Logger::TEAM,__FILE__":  clear. turn to ball" );Body_TurnToBall().execute( agent );agent->setNeckAction( new Neck_ScanField() );return;}agent->debugClient().addMessage( "FreeKick:Clear" );dlog.addText( Logger::TEAM,__FILE__":  clear" );Body_ClearBall().execute( agent );agent->setNeckAction( new Neck_ScanField() );
}/*-------------------------------------------------------------------*/
/*!*/
bool
Bhv_SetPlayFreeKick::doKickWait( PlayerAgent * agent )
{const WorldModel & wm = agent->world();dlog.addText( Logger::TEAM,__FILE__": (doKickWait)" );const int real_set_play_count= static_cast< int >( wm.time().cycle() - wm.lastSetPlayStartTime().cycle() );if ( real_set_play_count >= ServerParam::i().dropBallTime() - 5 ){dlog.addText( Logger::TEAM,__FILE__": (doKickWait) real set play count = %d > drop_time-10, force kick mode",real_set_play_count );return false;}const Vector2D face_point( 40.0, 0.0 );const AngleDeg face_angle = ( face_point - wm.self().pos() ).th();if ( wm.time().stopped() != 0 ){Body_TurnToPoint( face_point ).execute( agent );agent->setNeckAction( new Neck_ScanField() );return true;}
//拖延策略if ( Bhv_SetPlay::is_delaying_tactics_situation( agent ) ){agent->debugClient().addMessage( "FreeKick:Delaying" );dlog.addText( Logger::TEAM,__FILE__": (doKickWait) delaying" );Body_TurnToPoint( face_point ).execute( agent );agent->setNeckAction( new Neck_ScanField() );return true;}
//无队友情况下if ( wm.teammatesFromBall().empty() ){agent->debugClient().addMessage( "FreeKick:NoTeammate" );dlog.addText( Logger::TEAM,__FILE__": (doKickWait) no teammate" );Body_TurnToPoint( face_point ).execute( agent );agent->setNeckAction( new Neck_ScanField() );return true;}
//根据playCount进行调整if ( wm.setplayCount() <= 3 ){agent->debugClient().addMessage( "FreeKick:Wait%d", wm.setplayCount() );Body_TurnToPoint( face_point ).execute( agent );agent->setNeckAction( new Neck_ScanField() );return true;}if ( wm.setplayCount() >= 15&& wm.seeTime() == wm.time()&& wm.self().stamina() > ServerParam::i().staminaMax() * 0.6 ){dlog.addText( Logger::TEAM,__FILE__": (doKickWait) set play count = %d, force kick mode",wm.setplayCount() );return false;}if ( ( face_angle - wm.self().body() ).abs() > 5.0 ){agent->debugClient().addMessage( "FreeKick:Turn" );Body_TurnToPoint( face_point ).execute( agent );agent->setNeckAction( new Neck_ScanField() );return true;}if ( wm.seeTime() != wm.time()|| wm.self().stamina() < ServerParam::i().staminaMax() * 0.9 ){Body_TurnToBall().execute( agent );agent->setNeckAction( new Neck_ScanField() );agent->debugClient().addMessage( "FreeKick:Wait%d", wm.setplayCount() );dlog.addText( Logger::TEAM,__FILE__": (doKickWait) no see or recover" );return true;}return false;
}/*-------------------------------------------------------------------*/
/*!*/
void
Bhv_SetPlayFreeKick::doMove( PlayerAgent * agent )
{const WorldModel & wm = agent->world();dlog.addText( Logger::TEAM,__FILE__": (doMove)" );Vector2D target_point = Strategy::i().getPosition( wm.self().unum() );if ( wm.setplayCount() > 0&& wm.self().stamina() > ServerParam::i().staminaMax() * 0.9 ){const PlayerObject * nearest_opp = agent->world().getOpponentNearestToSelf( 5 );
//存在对方球员在抢球区if ( nearest_opp && nearest_opp->distFromSelf() < 3.0 ){Vector2D add_vec = ( wm.ball().pos() - target_point );add_vec.setLength( 3.0 );long time_val = agent->world().time().cycle() % 60;if ( time_val < 20 ){}else if ( time_val < 40 ){target_point += add_vec.rotatedVector( 90.0 );}else{target_point += add_vec.rotatedVector( -90.0 );}target_point.x = min_max( - ServerParam::i().pitchHalfLength(),target_point.x,+ ServerParam::i().pitchHalfLength() );target_point.y = min_max( - ServerParam::i().pitchHalfWidth(),target_point.y,+ ServerParam::i().pitchHalfWidth() );}}target_point.x = std::min( target_point.x,agent->world().offsideLineX() - 0.5 );
//下面的代码是修改冲刺的体力double dash_power= Bhv_SetPlay::get_set_play_dash_power( agent );double dist_thr = wm.ball().distFromSelf() * 0.07;if ( dist_thr < 1.0 ) dist_thr = 1.0;agent->debugClient().addMessage( "SetPlayMove" );agent->debugClient().setTarget( target_point );agent->debugClient().addCircle( target_point, dist_thr );if ( ! Body_GoToPoint( target_point,dist_thr,dash_power).execute( agent ) ){// already thereBody_TurnToBall().execute( agent );}if ( wm.self().pos().dist( target_point )> std::max( wm.ball().pos().dist( target_point ) * 0.2, dist_thr ) + 6.0|| wm.self().stamina() < ServerParam::i().staminaMax() * 0.7 ){if ( ! wm.self().staminaModel().capacityIsEmpty() ){agent->debugClient().addMessage( "Sayw" );agent->addSayMessage( new WaitRequestMessage() );}}agent->setNeckAction( new Neck_TurnToBallOrScan() );
}

这几天一直在寻找有关策略的相关资料，但是还没有确定如何下手，初步设想是从阵型开始入手，然后就修改球员之间的跑位和信息交流等。在修改之前，还需要时间去进一步巩固一下相关的代码。

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