合肥工业大学机器人技术五十六题
2024-05-17 05:32:24
合肥工业大学机器人技术五十六题
题目要求
//拿球后行为，利用已有 Worldmodel（21）
(1)在 playOn 模式下，拿到球以后朝前方快速带球。
(2)在 PlayOn 模式下，拿到球以后朝球门方向慢速带球。
(3)在 playOn 模式下，拿到球以后把球围绕自己身体逆时针转。
(4)在 playOn 模式下，拿到球后，有人逼抢(自身周围 7 米范围有至少 1 名对方
球员)，则把球踢到距离对手的另外一侧，安全带球（如对手在右侧，把球踢
到左侧，如对手仔左侧，把球踢到右侧）。
(5)在 playOn 模式下，拿到球以后，有人逼抢，传球给最近的队友；否则向球门
方向快速带球。
(6)在 playOn 模式下，如果有人逼抢(自身周围 7 米范围有至少 1 名对方球员)， 则安全带球；否则向球门方向快速带球。
(7)在 PlayOn 模式下，若前方没有对方球员，则直接以最大速度向对方球门射门
（周期数为偶数，球门的右侧射门，周期为奇数，向球门的左侧射门）。
(8)在 playOn 模式下，拿到球后，在本方半场踢到球场中心点；过了半场，快速
带球到对方球门。
(9)在 PlayOn 模式下，拿到球后，把传给最近的周围没人防守的队友（没有人防
守以其周围 5 米范围是否有对方球员为准）脚下。
(10) 在 playOn 模式下，拿到球后，把球传给最靠近自己的前方的没人防守的
队友（判断队友身边 5 米范围是否有对方防守队员）。
(11) 在 playOn 模式下，拿到球后以后，在本方半场传给次近的队友；在对方
半场，非 10 号球员传球给 10 号球员，10 号球员则快速向球门方向带球。
(12) 在 playOn 模式下，如果在本方半场，则朝前方慢速带球，如果在对方半
场，则朝球门快速带球。
(13) 在 playOn 模式下，拿到球后，如果是 2 号，则把球踢到左侧边线，如果
是 5 号，则把球踢到右侧边线，并把脖子方向转向球；其他球员则向前带球。
(14) 在 playOn 模式下，拿到球后，如果 4 号，则传球给 7 号; 否则的话，传
球给最近的队友；到对方禁区后以最大速度射向空隙大的球门一侧。
(15) 在 playOn 模式下，拿球后垂直带球。
(16) 在 playOn 模式下，拿到球后带球到达球场中心；在球场中心附近位置（中 心位置周围 2 米半径范围内）传给最近的球员。
(17) 在 playOn 模式下，如果 10 号控球，则其带球前进，然后 5 号跟着 10
号一起前进，两球员在同一水平线上，且距离为 5。
(18) 在 playon 模式下，如果是 10 号球员，在可踢球的状态下，如果自身的
x 轴坐标大于 30，则直接朝着离对方球员远的球门点射门。
(19) 在 playOn 模式下，如果是 9 号拿到球，则令 9 号和 10 号同时冲至敌方
球门处，在球门前，9 号传给 10 号，由 10 号进行射门
(20) 在 playOn 模式下，如果我是 4 号球员并且拿到了球，则传给 7 号球员，
同时 7 号球员再传给 9 号球员，9 号球员继续以最大速度冲到球门处射门。
(21) 在 playOn 模式下，如果在我方半场拿到球，则向中场线以最大的速度踢，
如果在敌方半场拿到球，则向敌方球门处以最大的速度踢
//拿球以后，需要自己添加 WorldModel 函数（12）
(22) 在 playOn 模式下，拿球后传球给更靠近对方球门的最近队友。
(23) 在 playOn 模式下，拿球后，搜索前方-30~30 之间距离自己 20 米内是否
有队友，如果有则传给该队友，否则自己带球。
(24) 在 playon 模式下，求出 y 轴等于 0 的两侧的对方球员数量，将球传向对
手少的一方，并且 x 轴值最大的队友。
(25) 在 playon 模式下，如果自身 7 米范围内有两个或两个以上的对手的话，
则传球到 x 轴值最大的队友。
(26) 在 playon 模式下，求出己方的越位线，存在可以踢球的队友的话，如果
自身是 10 号。那么 10 球员垂直跑向越位线的 x 轴值-2 米，y 轴不变的点。
(27) 在 playon 的模式下，求出球运动方向（即求出其对应的直线方程），并
且求出自己到该直线的距离，如果距离小于 4 的话，那么就垂直跑向该条直
线。
(28) 在 playon 的模式下，如果是自己可以踢球的状态下，如果自身 7 米内没
有对方球员的话，则快速带球，带球方向是朝着点（53,0）方向。
(29) 在 playon 的模式下，如果距离球最近的是我方队友的话，如果我的 x
坐标小于 30 的话，并且我是 10 号，那么我跑向球的坐标加上（0,10）的坐
标位置。
(30) 在 playon 的模式下，发现前方没有队友的时候，如果自身 5 米内有两个
及两个以上的对手的话，那么将球传给最近的队友。
(31) 在 playon 的模式下，发现前方没有对方球员的时候，则快速向球门放向
带球，距离守门员 5-10 米时向空隙较大的一侧射门。
(32) 在 playon 的模式下，发现前方没有对方球员的时候，则快速向球门放向
带球，距离守门员 5-10 米时向空隙较大的一侧射门。
(33) 在 playon 的模式下，（8，9，10，11）前方没有对方球员的时候，则快 速向球门放向带球，距离守门员 5-10 米时向空隙较大的一侧射门。
//其他比赛模式下，进攻行为（8）
(34) 在本方角球模式下，如果自己是 10 号球员，则跑向角球点，并开球（球
可踢，则踢球给 9 号）；如果自己是 9 号球员，则跑向距离角球点附近（随
机选一点），准备接应球，其他球员跑本位点.
(35) 在本方边线球模式下，如果自己是距离球最近的队员，跑向球；并开球
（球在自己脚下则把球传给最近的队友）。
(36) 在本方边线球模式下，在本方半场左侧，则由 2 号去发；如果是本方半
场右侧，则由 5 号去发；球在 2 号或者 5 号脚下，则踢向距离自己最近的队
友。
(37) 在本方边线球的模式下，如果我是距离第二近的队友的话，那么我也跑
朝着球的位置跑，直到距离球 7 米的范围。
(38) 在本方边线球的模式下，如果我是 4 号的话，并且距离球最近的队友不
是我，那么我将跑向球的坐标加上（5,0）的位置上去。
(39) 在本方边线球的模式下，如果我是距离球第二近的队友，那么我跑向距
离球 12 米的范围内，并且距离对方球门点（53,0）最近的点。
(40) 在本方边线球的模式下，距离球最近的队友跑向球并开球，如果我不是
距离球第二近的队友，那么我向自身向量（5,0）的方向跑去。
(41) 在本方边线球的模式下，距离球最近的队友跑向球并开球。如果我不是
距离球第二近的队友，那么求出距离球第二近的队友的坐标加上（10，5）的
点；如果该点在球场内，则跑向该点，如果该点在场外，则计算距离该点最 近的边界点。
//playOn 模式下，防守行为（8）
(42) 在 playOn 模式下，5 号球员与拿球的对方球员的距离始终为 5。
(43) 在 playOn 模式下，2 号和 4 号一起去盯防对方拿球队员。
(44) 在 playOn 模式下，如果对方 10 号拿球，如果我是 2、3、4 号，则去盯
防 10 号。
(45) 在 playOn 模式下，如对方 9 号拿球，我方 2、3、4 号距离球最近的球员
去盯防 9 号，其他队员盯防距离自己最近的对方球员
(46) 在 playOn 模式下，如果对方比我先接近球，则离球最近的队员去盯球，
其他球员盯防距离自己最近的对方球员。
(47) 在 playOn 模式下，如果对方 11 号拿到球，则 7 号球员从左边去断球，8 号球员从右边去断球。
(48) 在 playOn 模式下，防守模式下（即球不在我方球员脚下），我方 6 号球
员始终跟着敌方 9 号，我方 7 号始终跟着敌方 10 号，8 号球员始终跟着敌方
11 号球员。
(49) 在 playOn 模式下，防守模式下（即球不在我方球员脚下），我方距离球
最近的 2 名队员负责去盯防对方离球最近的球员，其他球员其他球员采用人 球都盯的方式盯防防距离自己最近的对方球员（即跑到距离自己最近的对方
球员的可能接球路线的前面位置点） //其他比赛模式下，防守行为（7）
(50) 在对方边线球的模式下，如果我是 4 号，那么我就跑向距离球最近的对
方球员处。
(51) 在对方边线球的模式下，如果我是距离球第二近的队员的话，那么我跑
向距离球第二近的对方球员的位置。
(52) 在对方角球模式情况下，如果球在我方左侧，则 2，3，6，7 号平均分布
在以球的位置为圆心，半径 10 米的圆弧上（其中 2 号的初始位置可以自行设
定，间距也可以自行设定，但是需要保证 2，3，6，7 都在场内）；如果球在
我方右侧，则 4，5，7，8 号平均分布在以球的位置为圆心，半径 10 米的圆 弧上（其中 4 号的初始位置可以自行设定，间距也可以自行设定，但是需要
保证 4，5，7，8 都在场内）。
(53) 在对方边线球的模式下，如果我不是距离球最近的队友，并且我的 x 轴
坐标大于 0 的话，那么我跑向自身位置加（-10,0）的点的位置去。
(54) 在对方边线球的模式下，如果我身边 5 米内有对方球员的话，那么我跑
向身边对方球员的位置，并且我的 x 轴坐标的值要比该对方的大 2。
(55) 在对方边线球的模式下，如果球的位置的 x 轴小于 0，如果我是 4 号或 5
号的话，一起跑向距离球第二近的对方球员的位置。
(56) 在对方角球模式情况下，如果球在我方左侧，则 2，3 号负责盯防对方距 离球第二近的对方球员；如果球在我方右侧，则 4，5 号负责盯防对方距离球
第二近的对方球员。
添加函数
WorldModel.h/*************************add***************************//*----------------start---------------------*/ObjectT getTeammateClosestToGoalAndAgent();ObjectT getTeammateAtAngleDist( AngDeg ang1, AngDeg ang2, double dist );int getOpponentNumSideY( int mark );ObjectT getXMaxTeammateBySide( int mark );ObjectT getClosestFlagToPos( VecPosition pos );bool isTeammateAtAngle( AngDeg ang1, AngDeg ang2 );double getAgentDistFromGoalie();ObjectT getNearestBallObj( ObjectT obj1, ObjectT obj2);ObjectT getOppByDistAndPos( double dist, double x, double y );/*----------------end----------------------*/
WorldModel.cpp
/****************************add***************************/
/*----------------------start-------------------------------*/
ObjectT WorldModel::getTeammateClosestToGoalAndAgent()
{int iIndex;ObjectT closeAgent = OBJECT_ILLEGAL;ObjectT closeBoth = OBJECT_ILLEGAL;VecPosition posGoal( 52.5, 0 );VecPosition posAgent = getGlobalPosition( getAgentObjectType() );for( ObjectT o = iterateObjectStart(iIndex, OBJECT_SET_TEAMMATES);o == OBJECT_ILLEGAL;o = iterateObjectNext(iIndex, OBJECT_SET_TEAMMATES)){ if( closeAgent==OBJECT_ILLEGAL || posAgent.getDistanceTo( o )<posAgent.getDistanceTo( closeAgent )){closeAgent = o;if( closeBoth==OBJECT_ILLEGAL || posGoal.getDistanceTo( closeAgent )<posGoal.getDistanceTo( closeBoth ))closeBoth = closeAgent;} }iterateObjectDone( iIndex );return closeBoth;
}ObjectT WorldModel::getTeammateAtAngleDist( AngDeg ang1, AngDeg ang2, double dist)
{VecPosition posAgent = getAgentGlobalPosition();VecPosition posTeammate;AngDeg ang;int iIndex;for( ObjectT o = iterateObjectStart(iIndex, OBJECT_SET_TEAMMATES);o == OBJECT_ILLEGAL;o = iterateObjectNext(iIndex, OBJECT_SET_TEAMMATES)){posTeammate = getGlobalPosition( o );ang = (posTeammate - posAgent).getDirection();if( (ang>=ang1 && ang<=ang2) && (posAgent.getDistanceTo(posTeammate) < dist))return o;}iterateObjectDone(iIndex);return OBJECT_UNKNOWN;
}int WorldModel::getOpponentNumSideY( int mark )// mark<0获得 Y<0半场 对方球员 数
{VecPosition posOpp;int iIndex;int oppNumT;int oppNumB;for( ObjectT o = iterateObjectStart(iIndex, OBJECT_SET_OPPONENTS);o == OBJECT_ILLEGAL;o = iterateObjectNext(iIndex, OBJECT_SET_OPPONENTS)){posOpp = getGlobalPosition( o );if( posOpp.getY() < 0 )oppNumT++;else if( posOpp.getY() > 0)oppNumB++;}iterateObjectDone(iIndex);if( mark < 0)return oppNumT;else if( mark > 0)return oppNumB;elsereturn 65001;
}ObjectT WorldModel::getXMaxTeammateBySide( int mark )// mark<0获得 Y<0半场
{int iIndex;ObjectT maxTeammate = OBJECT_ILLEGAL;for( ObjectT o = iterateObjectStart(iIndex, OBJECT_SET_TEAMMATES);o == OBJECT_ILLEGAL;o = iterateObjectNext(iIndex, OBJECT_SET_TEAMMATES)){VecPosition pos = getGlobalPosition( o );if( (pos.getY()<0 && mark<0) || (pos.getY()>0 && mark>0) ){if( maxTeammate==OBJECT_ILLEGAL || pos.getX()>getGlobalPosition( maxTeammate ).getX() )maxTeammate = o;}}iterateObjectDone( iIndex );return maxTeammate;
}ObjectT WorldModel::getClosestFlagToPos( VecPosition pos )
{int iIndex;double dist = 65001;ObjectT flag = OBJECT_ILLEGAL; for( ObjectT o = iterateObjectStart(iIndex, OBJECT_SET_FLAGS);o == OBJECT_ILLEGAL;o = iterateObjectNext(iIndex, OBJECT_SET_FLAGS)){if( pos.getDistanceTo( o ) < dist ){dist = pos.getDistanceTo( o );flag = o;}}iterateObjectDone( iIndex );return flag;
}
bool WorldModel::isTeammateAtAngle( AngDeg ang1, AngDeg ang2 )
{VecPosition posAgent = getAgentGlobalPosition();VecPosition posTeammate;AngDeg ang;int iIndex;for( ObjectT o = iterateObjectStart(iIndex, OBJECT_SET_TEAMMATES);o == OBJECT_ILLEGAL;o = iterateObjectNext(iIndex, OBJECT_SET_TEAMMATES)){posTeammate = getGlobalPosition( o );ang = (posTeammate - posAgent).getDirection();if( ang>=ang1 && ang<=ang2 )return true; }iterateObjectDone(iIndex);return false;
}double WorldModel::getAgentDistFromGoalie()
{VecPosition posAgent = getAgentGlobalPosition();VecPosition posGoalie = getGlobalPosition( getOppGoalieType() );return posAgent.getDistanceTo( posGoalie );}ObjectT WorldModel::getNearestBallObj( ObjectT obj1, ObjectT obj2)
{VecPosition pos1 = getGlobalPosition( obj1 );VecPosition pos2 = getGlobalPosition( obj2 );VecPosition posBall = getGlobalPosition( OBJECT_BALL );double dist1 = posBall.getDistanceTo( pos1 );double dist2 = posBall.getDistanceTo( pos2 );if( dist1 >= dist2 )return obj1;elsereturn obj2;
}//获得与我距离dist，x轴坐标值相差x，y轴坐标值相差y的对方球员
ObjectT WorldModel::getOppByDistAndPos( const double dist, const double x, const double y )
{int iIndex;VecPosition posAgent = getAgentGlobalPosition();for( ObjectT o = iterateObjectStart(iIndex, OBJECT_SET_OPPONENTS);o == OBJECT_ILLEGAL;o = iterateObjectNext(iIndex, OBJECT_SET_OPPONENTS)){VecPosition pos = getGlobalPosition( o );if( posAgent.getDistanceTo( o )==dist && (posAgent.getX()-pos.getX())==x &&(posAgent.getY()-pos.getY())==y )return o;}iterateObjectDone( iIndex );
}
/*-----------------------end------------------------------*/PlayerTeams.cpp/*********************exam questions****************************//*---------------------------start-------------------------------*//*1*/if( WM->isBallKickable() ){AngDeg ang = 0.0;soc = dribble( ang, DRIBBLE_FAST );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*2*/if( WM->isBallKickable() ){VecPosition vec = VecPosition(52.5, 0) - WM->getAgentGlobalPosition();//我的位置到球门位置的向量AngDeg ang = vec.getDirection(); //获得角度soc = dribble( ang, DRIBBLE_SLOW );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*3*/if( WM->isBallKickable() ){soc = kickBallCloseToBody(-180);//逆时针旋转角度为负ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*4*/if( WM->isBallKickable() ){Circle cir( posAgent, 7.0 ); //建立以自身位置 为圆心，7 为半径的圆int oppNum = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir ); //获得圆内 对方球员的个数if( oppNum >= 1 ){ObjectT opp = WM->getClosestInSetTo(OBJECT_SET_OPPONENTS, posAgent);//获得 离我最近的对方球员VecPosition oppPos = WM->getGlobalPosition(opp); //获得他的 位置VecPosition meOpp = oppPos - posAgent; // 我与他连线的向量AngDeg ang = meOpp.getDirection();if( ang >= 0 ){ang -= 60;}else{ang += 60;}soc = dribble( ang, DRIBBLE_ILLEGAL ); }else{soc = dribble( 0.0, DRIBBLE_FAST );//否则向前快速 带球，可写可不写}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*5*/if( WM->isBallKickable() ){Circle cir( posAgent, 7.0 );int oppNum = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir );if( oppNum >= 1){ObjectT teammate = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, posAgent );//获得离我最 近的队友VecPosition vec = WM->getGlobalPosition( teammate ) - posAgent;soc = kickTo( vec, PS->getPassEndSpeed() );}else{soc = dribble( (VecPosition(52.5, 0) - posAgent).getDirection(), DRIBBLE_FAST );}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*6*/if( WM->isBallKickable() ){Circle cir( posAgent, 7.0 );int oppNum = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir );AngDeg ang = (VecPosition(52.5, 0) - posAgent).getDirection();if( oppNum >= 1){soc = dribble( ang, DRIBBLE_ILLEGAL );}else{soc = dribble( ang, DRIBBLE_FAST );}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*7*/if( WM->isBallKickable() ){if( WM->isOpponentAtAngle(-30.0, 30.0) )//如果 我前方60度范围内没有 对方球员{VecPosition posGoal( PITCH_LENGTH/2.0,(-1 + 2*(WM->getCurrentCycle()%2)) * 0.4 * SS->getGoalWidth() );//根据当前的周期数 交替的 踢向球门的 两个死角soc = kickTo( posGoal, SS->getBallSpeedMax() );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}}/*8*/if( WM->isBallKickable() ){if( posBall.getX() < 0)// 球在我方半场{soc = kickTo( VecPosition(0.0, 0.0), PS->getPassEndSpeed() );}else{soc = dribble( (VecPosition(52.5, 0) - posAgent).getDirection(), DRIBBLE_FAST );}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*9*/if( WM->isBallKickable() ){ObjectT teammate = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, posAgent );Circle cir( WM->getGlobalPosition(teammate), 5.0 );int oppNum = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir );if( oppNum <= 0 ){soc = leadingPass( teammate, PS->getPassEndSpeed() );}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*10*/if( WM->isBallKickable() ){ObjectT teammate = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, posAgent );VecPosition teammatePos = WM->getGlobalPosition( teammate );Circle cir( teammatePos, 5.0 );int oppNum = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir );AngDeg ang = ( teammatePos - posAgent ).getDirection();if( oppNum<=0 && (ang>=-90 && ang<=90) )//判断 该 队友是否有人 防守 是否 在我 前方{soc = leadingPass( teammate, PS->getPassEndSpeed() );}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*11*/if( WM->isBallKickable() ){if( posBall.getX() < 0 ){soc = leadingPass( WM->getSecondClosestInSetTo( OBJECT_SET_TEAMMATES, WM->getAgentObjectType() ), PS->getPassEndSpeed() );}else{if( WM->getAgentObjectType() == OBJECT_TEAMMATE_10 )//如果 我是 10号soc = dribble( VecPosition(52.5, 0).getDirection(), DRIBBLE_FAST );elsesoc = leadingPass( OBJECT_TEAMMATE_10, PS->getPassEndSpeed() );}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*12*/if( WM->isBallKickable() ){if( posBall.getX() < 0)soc = dribble( 0.0, DRIBBLE_SLOW );elsesoc = dribble( (VecPosition(52.5, 0)- posAgent).getDirection(), DRIBBLE_FAST );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*13*/if( WM->isBallKickable() ){if( WM->getAgentObjectType() == OBJECT_TEAMMATE_2 ){soc = kickTo( VecPosition( posBall.getX(), -34 ), PS->getPassEndSpeed() ); ACT->putCommandInQueue( soc );}else if( WM->getAgentObjectType() == OBJECT_TEAMMATE_5 ){soc = kickTo( VecPosition( posBall.getX(), 34 ), PS->getPassEndSpeed() );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}else{soc = dribble( 0.0, DRIBBLE_ILLEGAL );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}}/*14*/if( WM->isBallKickable() ){if( WM->getAgentObjectType() == OBJECT_TEAMMATE_4 )soc = leadingPass( OBJECT_TEAMMATE_7, PS->getPassEndSpeed() );elsesoc = leadingPass( WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, posAgent), PS->getPassEndSpeed() );if( WM->isInTheirPenaltyArea( posBall ))//如果在 对方禁区{VecPosition posGoalie = WM->getGlobalPosition( OBJECT_OPPONENT_GOALIE );//对方守门员位置AngDeg meGoalie = (posGoalie - posAgent).getDirection();AngDeg angTop = ( VecPosition(52.5, 6.0) - posAgent ).getDirection();AngDeg angBottom = ( VecPosition(52.5 -6.0) - posAgent ).getDirection();// 由于编译器不支持我使用fabs()函数，所以这里采用这种形式求绝对值AngDeg ang1 = (angTop-meGoalie)>=0 ? (angTop-meGoalie) : (-1)*(angTop-meGoalie);AngDeg ang2 = (angBottom-meGoalie)>=0 ? (angBottom-meGoalie) : (-1)*(angBottom-meGoalie);if( ang1 >= ang2 )soc = kickTo( VecPosition(52.5, 6.0) - posAgent, SS->getBallSpeedMax() );elsesoc = kickTo( VecPosition(52.5, -6.0) - posAgent, SS->getBallSpeedMax() );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}}/*15*/if( WM->isBallKickable() ){// 沿着y轴 跑if( posBall.getY() <= 0)soc = dribble( -90, DRIBBLE_SLOW );elsesoc = dribble( 90, DRIBBLE_SLOW );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*16*/if( WM->isBallKickable() ){soc = dribble( (VecPosition(0,0)-posAgent).getDirection(), DRIBBLE_WITHBALL );//拿到球后带球到达球场中心ObjectT teammate = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, posAgent );if( posAgent.getDistanceTo( teammate ) <= 2.0)soc = leadingPass( teammate, PS->getPassEndSpeed() );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*17*/if( WM->getPlayerNumber() == 10 ){soc = dribble( 0.0, DRIBBLE_WITHBALL );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}if( WM->getPlayerNumber() == 5){VecPosition pos( posBall.getX() - 5, posBall.getY() ); //保持五米soc = moveToPos( pos, PS->getPlayerWhenToTurnAngle() );ACT->putCommandInQueue( soc );}/*18*/if( WM->getPlayerNumber()==10 && WM->isBallKickable() && posAgent.getX()>30 ){VecPosition posGoalie = WM->getGlobalPosition( OBJECT_OPPONENT_GOALIE );AngDeg meGoalie = (posGoalie - posAgent).getDirection();AngDeg angTop = ( VecPosition(52.5, 6.0) - posAgent ).getDirection();AngDeg angBottom = ( VecPosition(52.5 -6.0) - posAgent ).getDirection();// 由于编译器不支持我使用fabs()函数，所以这里采用这种形式求绝对值//AngDeg ang1 = (angTop-meGoalie)>=0 ? (angTop-meGoalie) : (-1)*(angTop-meGoalie);//AngDeg ang2 = (angBottom-meGoalie)>=0 ? (angBottom-meGoalie) : (-1)*(angBottom-meGoalie);if( fabs(angTop-meGoalie) >= fabs(angBottom-meGoalie) )soc = kickTo( VecPosition(52.5, 6.0) - posAgent, SS->getBallSpeedMax() );elsesoc = kickTo( VecPosition(52.5, -6.0) - posAgent, SS->getBallSpeedMax() );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*19*/if( WM->getPlayerNumber()==9 && WM->isBallKickable() ){soc = dribble( (VecPosition(52.5, 0)-posAgent).getDirection(), DRIBBLE_FAST );//9号快速带球 到球门 处if( WM->getAgentObjectType() == OBJECT_TEAMMATE_10 )soc = dashToPoint( VecPosition(52.5, 0), WM->getCurrentCycle() );//10号跑向球门if( WM->isInTheirPenaltyArea( posBall ) ){soc = leadingPass( OBJECT_TEAMMATE_10, PS->getPassEndSpeed() );//传球给 10号if( WM->getAgentObjectType() == OBJECT_TEAMMATE_10 )soc = kickTo( (VecPosition(52.5, 0) - posAgent).getDirection(), SS->getBallSpeedMax() );}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*20*/if( WM->getPlayerNumber()==4 && WM->isBallKickable() ){soc = leadingPass( OBJECT_TEAMMATE_7, PS->getPassEndSpeed() );if( WM->getAgentObjectType()==OBJECT_TEAMMATE_7 && WM->isBallKickable() )//7号拿球 可踢soc = leadingPass( OBJECT_TEAMMATE_9, PS->getPassEndSpeed() ); // 传给9号if( WM->getAgentObjectType()==OBJECT_TEAMMATE_9 && WM->isBallKickable() )//9号拿球 可踢{if( WM->getRelativeDistance( WM->getOppGoalieType() ) >= 20 )//距离对方球门较远时soc = dribble( (VecPosition(52.5, 0) - posAgent).getDirection(), DRIBBLE_FAST );//快速向球门带球soc = kickTo( VecPosition(52.5, 0), SS->getBallSpeedMax() );}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*21*/if( WM->isBallKickable() && posBall.getX()<0 )soc = kickTo( VecPosition( 0, posBall.getY() ), SS->getBallSpeedMax() );else if( WM->isBallKickable() && posBall.getX()>0)soc = kickTo( VecPosition(52.5, 0), SS->getBallSpeedMax() );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );/*22*/if( WM->isBallKickable() ){soc = leadingPass( WM->getTeammateClosestToGoalAndAgent(), PS->getPassEndSpeed() );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*23*/if( WM->isBallKickable() ){ObjectT o = WM->getTeammateAtAngleDist(-30, 30, 20.0);if( o != OBJECT_UNKNOWN )soc = leadingPass( o, PS->getPassEndSpeed() );elsesoc = dribble( (VecPosition(52.5, 0) - posAgent).getDirection(), DRIBBLE_ILLEGAL );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*24*/if( WM->isBallKickable() ){ObjectT maxX;if( WM->getOpponentNumSideY( -1 ) > WM->getOpponentNumSideY( 1 ))// 我方半场 对方球员 较多maxX = WM->getXMaxTeammateBySide( 1 );elsemaxX = WM->getXMaxTeammateBySide( -1 );soc = leadingPass( maxX, PS->getPassEndSpeed() );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*25*/if( WM->isBallKickable() ){Circle cir( posAgent, 7.0 );int oppNum = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir );if( oppNum >= 2){ObjectT mate = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, VecPosition( 52.0, 0) );// x 最大的队友 离对方 球门最近soc = leadingPass( mate, PS->getPassEndSpeed() );}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*26*/if( WM->getPlayerNumber()==10 && WM->isBallInOurPossesion() )soc = moveToPos( VecPosition(WM->getOffsideX()-2, posAgent.getY() ), 30);ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );/*27*/Line ballLine = Line::makeLineFromPositionAndAngle( WM->getBallPos(), WM->getBallDirection() );// 根据球的位置和方向 角 创建直线if( ballLine.getDistanceWithPoint( posAgent ) < 4)soc = moveToPos( ballLine.getPointOnLineClosestTo( posAgent ), 30);ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );/*28*/if( WM->isBallKickable() ){Circle cir( posAgent, 7.0 );int oppNum = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir );if( oppNum <= 0 )soc = dribble( (VecPosition(53.0, 0)-posAgent).getDirection(), DRIBBLE_FAST );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*29*/if( WM->isBallInOurPossesion() && posAgent.getX()<30 && WM->getPlayerNumber()==10 ){soc = moveToPos( (VecPosition(0, 10)+posAgent), 30);ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*30*/if( WM->isBallKickable() ){Circle cir( posAgent, 5.0 );int oppNum = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir );if( oppNum>=2 && WM->isTeammateAtAngle(-30, 30) )soc = leadingPass( WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, posAgent), PS->getPassEndSpeed() );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*31*/if( WM->isBallKickable() ){if( !WM->isOpponentAtAngle( -30, 30 ) )soc = dribble( (VecPosition(52.5, 0)-posAgent).getDirection(), DRIBBLE_FAST );double dist = WM->getAgentDistFromGoalie();if( dist>=5 && dist<=10 ){VecPosition posGoalie = WM->getGlobalPosition( OBJECT_OPPONENT_GOALIE );//对方守门员位置AngDeg meGoalie = (posGoalie - posAgent).getDirection();AngDeg angTop = ( VecPosition(52.5, 6.0) - posAgent ).getDirection();AngDeg angBottom = ( VecPosition(52.5, -6.0) - posAgent ).getDirection();// 由于编译器不支持我使用fabs()函数，所以这里采用这种形式求绝对值//AngDeg ang1 = (angTop-meGoalie)>=0 ? (angTop-meGoalie) : (-1)*(angTop-meGoalie);//AngDeg ang2 = (angBottom-meGoalie)>=0 ? (angBottom-meGoalie) : (-1)*(angBottom-meGoalie);if( fabs(angTop-meGoalie) >= fabs(angBottom-meGoalie) )soc = kickTo( VecPosition(52.5, 6.0) - posAgent, SS->getBallSpeedMax() );elsesoc = kickTo( VecPosition(52.5 -6.0) - posAgent, SS->getBallSpeedMax() );}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*33*/int playNum = WM->getPlayerNumber();if( (playNum==8 || playNum==9 || playNum==10 || playNum==11) && WM->isOpponentAtAngle( -30, 30 ) ){soc = dribble( (VecPosition(52.5, 0)-posAgent).getDirection(), DRIBBLE_FAST );double dist = WM->getAgentDistFromGoalie();if( dist>=5 && dist<=10 ){VecPosition posGoalie = WM->getGlobalPosition( OBJECT_OPPONENT_GOALIE );//对方守门员位置AngDeg meGoalie = (posGoalie - posAgent).getDirection();AngDeg angTop = ( VecPosition(52.5, 6.0) - posAgent ).getDirection();AngDeg angBottom = ( VecPosition(52.5, -6.0) - posAgent ).getDirection();// 由于编译器不支持我使用fabs()函数，所以这里采用这种形式求绝对值//AngDeg ang1 = (angTop-meGoalie)>=0 ? (angTop-meGoalie) : (-1)*(angTop-meGoalie);//AngDeg ang2 = (angBottom-meGoalie)>=0 ? (angBottom-meGoalie) : (-1)*(angBottom-meGoalie);if( fabs(angTop-meGoalie) >= fabs(angBottom-meGoalie) )soc = kickTo( VecPosition(52.5, 6.0) - posAgent, SS->getBallSpeedMax() );elsesoc = kickTo( VecPosition(52.5 -6.0) - posAgent, SS->getBallSpeedMax() );}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*34*/if( WM->isCornerKickUs() ){if( WM->getAgentObjectType() == OBJECT_TEAMMATE_10 ){if( WM->isBallKickable() )soc = leadingPass( OBJECT_TEAMMATE_9, PS->getPassEndSpeed() );elsesoc = moveToPos( posBall, 30);}if( WM->getAgentObjectType() == OBJECT_TEAMMATE_9 ) {VecPosition pos;pos.setX( posBall.getX() );if( posBall.getY() > 0 )pos.setY( posBall.getY() - 10 );elsepos.setY( posBall.getY() + 10 );soc = moveToPos( pos, 30 );}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*35*/if( WM->isOffsideUs() ){if( WM->getFastestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL ) == WM->getAgentObjectType() )soc = moveToPos( posBall, PS->getPlayerWhenToTurnAngle() );if( WM->isBallKickable() )soc = leadingPass( WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, WM->getAgentObjectType() ), PS->getPassEndSpeed() );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*36*/if( WM->isOffsideUs() ){if( posBall.getX()<0 && posBall.getY()<0 && WM->getAgentObjectType()==OBJECT_TEAMMATE_2 )soc = moveToPos( posBall, PS->getPlayerWhenToTurnAngle() );else if( posBall.getX()<0 && posBall.getY()>0 && WM->getAgentObjectType()==OBJECT_TEAMMATE_5 )soc = moveToPos( posBall, PS->getPlayerWhenToTurnAngle() );if( WM->isBallKickable() && (WM->getAgentObjectType()==OBJECT_TEAMMATE_2 || WM->getAgentObjectType()==OBJECT_TEAMMATE_5) )soc = leadingPass( WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, WM->getAgentObjectType() ), PS->getPassEndSpeed() );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) ); }/*37*/if( WM->isOffsideUs() ){double dist = sqrt((posAgent.getX()-posBall.getX())*(posAgent.getX()-posBall.getX()) + (posAgent.getY()-posBall.getY())*(posAgent.getY()-posBall.getY()));if( WM->getSecondClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL)==WM->getAgentObjectType() && dist>=7 ){VecPosition pos = posBall - posAgent;double d = posBall.getDistanceTo( posAgent );VecPosition target( (pos.getX()/d)*7.0, (pos.getY()/d)*7.0 );soc = moveToPos( posAgent+target, PS->getPlayerWhenToTurnAngle() );}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) ); }/*38*/if( WM->isOffsideUs() ){if( WM->getPlayerNumber() == 4){if( WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL ) != WM->getAgentObjectType() )soc = moveToPos( posBall+VecPosition( 5, 0 ), PS->getPlayerWhenToTurnAngle() );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) ); }}/*39*/if( WM->isOffsideUs() ){if( WM->getSecondClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL ) == WM->getAgentObjectType() ){VecPosition posGoal( 53, 0 );double dist = posBall.getDistanceTo( posGoal );// 球和 球门间的 距离if( dist > 12 ){VecPosition pos = posGoal - posBall;VecPosition target( (pos.getX()/dist)*12, (pos.getY()/dist)*12 );soc = moveToPos( posBall+target, PS->getPlayerWhenToTurnAngle() );// 球员在 球与球门 连线上， 距离球12ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) ); }}}/*40*/if( WM->isOffsideUs() ){ObjectT nearestMate = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL );if( nearestMate == WM->getAgentObjectType() )soc = moveToPos( posBall, PS->getPlayerWhenToTurnAngle() );if( WM->getSecondClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL ) != WM->getAgentObjectType() )soc = moveToPos( posAgent+VecPosition( 5, 0 ), PS->getPlayerWhenToTurnAngle() );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) ); }/*41*/if( WM->isOffsideUs() ){ if( WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL ) == WM->getAgentObjectType() )soc = moveToPos( posBall, PS->getPlayerWhenToTurnAngle() );ObjectT secNear = WM->getSecondClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL );if( secNear != WM->getAgentObjectType() ){VecPosition pos = WM->getGlobalPosition( secNear ) + VecPosition( 10, 5 );if( WM->isInField( pos ) )soc = moveToPos( pos, PS->getPlayerWhenToTurnAngle() );else{ObjectT o = WM->getClosestFlagToPos( pos );soc = moveToPos( WM->getGlobalPosition( o ), PS ->getPlayerWhenToTurnAngle() );} }ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) ); }/*42*/if( WM->getPlayerNumber() == 5){ObjectT oppBallKeeper = WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );VecPosition posOpp = WM->getGlobalPosition( oppBallKeeper );VecPosition pos = posAgent - posOpp;double d = posOpp.getDistanceTo( posAgent );VecPosition target( (pos.getX()/d)*5, (pos.getY()/d)*5 );soc = moveToPos( posOpp+target, PS->getPlayerWhenToTurnAngle() );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) ); }/*43*/if( WM->getPlayerNumber()==2 || WM->getPlayerNumber()==4){ObjectT oppBallKeeper = WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );soc = mark( oppBallKeeper, 0.0, MARK_BALL );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) ); }/*44*/ObjectT oppBallKeeper = WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );if( oppBallKeeper == OBJECT_OPPONENT_10 ){if( WM->getAgentObjectType()==OBJECT_TEAMMATE_2|| WM->getAgentObjectType()==OBJECT_TEAMMATE_3|| WM->getAgentObjectType()==OBJECT_TEAMMATE_4 ){soc = mark( oppBallKeeper, 0.0, MARK_BISECTOR );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) ); } }/*45*/ObjectT oppBallKeeper = WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );if( oppBallKeeper == OBJECT_OPPONENT_9 ){ObjectT nearestBall = WM->getNearestBallObj( OBJECT_TEAMMATE_2, WM->getNearestBallObj( OBJECT_TEAMMATE_3, OBJECT_TEAMMATE_4 ) );if( nearestBall == WM->getAgentObjectType() )soc = mark( oppBallKeeper, 0.0, MARK_BISECTOR );else{ObjectT nearestOpp = WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, WM->getAgentObjectType() );soc = mark( nearestOpp, 0.0, MARK_ILLEGAL );}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) ); }/*46*/double *dist1;double *dist2;WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL, dist1 );WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL, dist2 );if( *dist1 < *dist2 ){ObjectT nearestBall = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL );if( nearestBall == WM->getAgentObjectType() )soc = mark( nearestBall, 0.0, MARK_BISECTOR );elsesoc = mark( WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, WM->getAgentObjectType() ), 5.0, MARK_ILLEGAL );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*47*///这个所谓的左右，你就当自己是 站在球场上的球员，来判断左右。 注意 球场上y轴正方向 朝下if( !WM->isBallKickable() && WM->getAgentObjectType()==OBJECT_OPPONENT_11 ){if( WM->getPlayerNumber() == 7){soc = moveToPos( WM->getGlobalPosition( OBJECT_OPPONENT_11 )+VecPosition( 0, -5 ), PS->getPlayerWhenToTurnAngle() );soc = intercept( true );}else if( WM->getPlayerNumber() == 8 ){soc = moveToPos( WM->getGlobalPosition( OBJECT_OPPONENT_11 )+VecPosition( 0, 5 ), PS->getPlayerWhenToTurnAngle() );soc = intercept( true );}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*48*/if( !WM->isBallInOurPossesion() ){if( WM->getPlayerNumber() == 6 )soc = moveToPos( WM->getGlobalPosition( OBJECT_OPPONENT_9 ), PS->getPlayerWhenToTurnAngle() );else if( WM->getPlayerNumber() == 7 )soc = moveToPos( WM->getGlobalPosition( OBJECT_OPPONENT_10 ), PS->getPlayerWhenToTurnAngle() ); else if( WM->getPlayerNumber() == 8 )soc = moveToPos( WM->getGlobalPosition( OBJECT_OPPONENT_11 ), PS->getPlayerWhenToTurnAngle() ); ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*49*/if( !WM->isBallInOurPossesion() ){ObjectT teammate1 = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL );ObjectT teammate2 = WM->getSecondClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL );ObjectT opp = WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );//ObjectT opp2 = WM->getSecondClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );if( WM->getAgentObjectType()==teammate1 || WM->getAgentObjectType()==teammate2 ) soc = mark( opp, 0.0, MARK_ILLEGAL );else{ObjectT nearestOpp = WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, WM->getAgentObjectType() );VecPosition posOpp = WM->getGlobalPosition( nearestOpp );VecPosition oppToBall = posBall - posOpp;VecPosition target( oppToBall.getX()/2.0, oppToBall.getY()/2.0 );soc = moveToPos( posAgent+target, PS->getPlayerWhenToTurnAngle() );// 跑到对方球员 与球连线的 中点}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*50*/if( WM->isOffsideThem() ){if( WM->getPlayerNumber() == 4)soc = moveToPos( WM->getClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL ), PS->getPlayerWhenToTurnAngle() );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*51*/if( WM->isOffsideThem() ){ObjectT o = WM->getSecondClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL );if( WM->getAgentObjectType() == o ){ObjectT opp = WM->getSecondClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );soc = moveToPos( WM->getGlobalPosition( opp ), PS->getPlayerWhenToTurnAngle() ); }ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*52*/if( WM->isCornerKickThem() ){if( posBall.getY() < 0 ){VecPosition pos2 = WM->getGlobalPosition( OBJECT_TEAMMATE_2 );VecPosition pos3 = WM->getGlobalPosition( OBJECT_TEAMMATE_3 );VecPosition pos6 = WM->getGlobalPosition( OBJECT_TEAMMATE_6 );VecPosition pos7 = WM->getGlobalPosition( OBJECT_TEAMMATE_7 );if( WM->isInField( pos2 ) && WM->isInField( pos3 ) && WM->isInField( pos6 ) && WM->isInField( pos7 )){if( WM->getAgentObjectType() == OBJECT_TEAMMATE_2 )soc = moveToPos( posBall+VecPosition( 10, 0 ), PS->getPlayerWhenToTurnAngle() );if( WM->getAgentObjectType() == OBJECT_TEAMMATE_3 )soc = moveToPos( posBall+VecPosition( -10, 0 ), PS->getPlayerWhenToTurnAngle() );if( WM->getAgentObjectType() == OBJECT_TEAMMATE_6 )soc = moveToPos( posBall+VecPosition( 0, 10 ), PS->getPlayerWhenToTurnAngle() );if( WM->getAgentObjectType() == OBJECT_TEAMMATE_7 )soc = moveToPos( posBall+VecPosition( 0, -10 ), PS->getPlayerWhenToTurnAngle() );}}else{VecPosition pos4 = WM->getGlobalPosition( OBJECT_TEAMMATE_4 );VecPosition pos5 = WM->getGlobalPosition( OBJECT_TEAMMATE_5 );VecPosition pos7 = WM->getGlobalPosition( OBJECT_TEAMMATE_7 );VecPosition pos8 = WM->getGlobalPosition( OBJECT_TEAMMATE_8 );if( WM->isInField( pos4 ) && WM->isInField( pos5 ) && WM->isInField( pos7 ) && WM->isInField( pos8 )){if( WM->getAgentObjectType() == OBJECT_TEAMMATE_4 )soc = moveToPos( posBall+VecPosition( 10, 0 ), PS->getPlayerWhenToTurnAngle() );if( WM->getAgentObjectType() == OBJECT_TEAMMATE_5 )soc = moveToPos( posBall+VecPosition( -10, 0 ), PS->getPlayerWhenToTurnAngle() );if( WM->getAgentObjectType() == OBJECT_TEAMMATE_7 )soc = moveToPos( posBall+VecPosition( 0, 10 ), PS->getPlayerWhenToTurnAngle() );if( WM->getAgentObjectType() == OBJECT_TEAMMATE_8 )soc = moveToPos( posBall+VecPosition( 0, -10 ), PS->getPlayerWhenToTurnAngle() );}}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*53*/if( WM->isOffsideThem() ){ObjectT o = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL );ObjectT agent = WM->getAgentObjectType();if( agent!=o && WM->getGlobalPosition( agent ).getX()>0 )soc = moveToPos( posAgent+VecPosition( -10, 0 ), PS->getPlayerWhenToTurnAngle() );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*54*/if( WM->isOffsideThem() ){Circle cir( posAgent, 5 );int num = WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS, cir );if( num > 0 )soc = moveToPos( WM->getGlobalPosition( WM->getOppByDistAndPos( 5, 2, 0 )), PS->getPlayerWhenToTurnAngle() );ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*55*/if( WM->isOffsideThem() ){if( posBall.getX() < 0 ){ObjectT agent = WM->getAgentObjectType();if( agent==OBJECT_TEAMMATE_4 || agent==OBJECT_TEAMMATE_5 ){ObjectT opp = WM->getSecondClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );soc = moveToPos( WM->getGlobalPosition( opp ), PS->getPlayerWhenToTurnAngle() );}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}}/*56*/if( WM->isCornerKickThem() ){ObjectT agent = WM->getAgentObjectType();ObjectT oppSecNearBall = WM->getSecondClosestInSetTo( OBJECT_SET_OPPONENTS, OBJECT_BALL );if( posBall.getY() < 0){if( agent==OBJECT_TEAMMATE_2 || agent==OBJECT_TEAMMATE_3 )soc = moveToPos( WM->getGlobalPosition( oppSecNearBall ), PS->getPlayerWhenToTurnAngle() );}else{if( agent==OBJECT_TEAMMATE_4 || agent==OBJECT_TEAMMATE_5 )soc = moveToPos( WM->getGlobalPosition( oppSecNearBall ), PS->getPlayerWhenToTurnAngle() );}ACT->putCommandInQueue( soc );ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );}/*-----------------------------end---------------------------------*/注：本代码为同学分享版，未经过严格测试，如需要准确代码，可下载本人分享资源中的代码！
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