RobotCup2D代码学习记录（二）

本篇博客在上篇博客基础上记录一下高层代码bhv_attackers_move.cpp阅读过程中的一些个人理解。

//这里的话参考了一下队长的解释，该函数的主要作用是负责球员在各个块之间的移动
bool
Bhv_AttackersMove::Body_ForestallBlock(PlayerAgent * agent)
{int S_count_no_move = 0 ;//一个计数变量，用于统计多少个周期未移动const rcsc::WorldModel & wm = agent->world();rcsc:Vector2D home_pos = Strategy::i().getPosition(wm.self().unum());rcsc::Vector2D block_point = home_pos;if (!block_point.isValid()){return false;}double dist_thr = 1.0;// agent->debugClient().addMessage("forestall");// agent->debugClient().setTarget(block_point);// agent->debugClient().addCircle(block_point, dist_thr);double dash_power = wm.self().getSafetyDashPower(rcsc::ServerParam::i().maxPower());if (rcsc::Body_GoToPoint(block_point, dist_thr, dash_power, 5, // cyclefalse, // no back dashtrue, // save recovery40.0 // dir_thr).execute(agent)){S_count_no_move = 0;return true;}#if 1++S_count_no_move;if (S_count_no_move >= 10){//   rcsc::dlog.addText(rcsc::Logger::TEAM,//       __FILE__": forestall. long no move. attack to the ball");//   agent->debugClient().addMessage("ForestallAttack");Body_Intercept2009(true).execute(agent);return true;}
#endif//这个地方话是来计算一下身体与球的角度的。abs函数是取绝对值，根据情况来调整身体的角度rcsc::AngleDeg body_angle = wm.ball().angleFromSelf() + 90.0;if (body_angle.abs() < 90.0){body_angle += 180.0;}rcsc::Body_TurnToAngle(body_angle).execute(agent);return true;
}//主要作用是根据敌人的位置、自己的位置、球的位置等等因素来判断自己的耐力值应该选择消耗多少
double
Bhv_AttackersMove::getDashPower(const PlayerAgent * agent,const Vector2D & target_point)
{const WorldModel & wm = agent->world();int mate_min = wm.interceptTable()->teammateReachCycle();int opp_min = wm.interceptTable()->opponentReachCycle();if (target_point.x > wm.self().pos().x&& wm.self().stamina() > ServerParam::i().staminaMax() * 0.7&& mate_min <= 8){Vector2D receive_pos = wm.ball().inertiaPoint(mate_min);if (std::fabs(receive_pos.y - target_point.y) < 15.0){//     dlog.addText(Logger::TEAM, __FILE__": getDashPower. chance. fast move");return ServerParam::i().maxPower();}}if (wm.self().pos().x > wm.offsideLineX()&& (wm.existKickableTeammate() || mate_min <= opp_min + 2)){Vector2D receive_pos = wm.ball().inertiaPoint(mate_min);if (target_point.x < receive_pos.x + 30.0&& wm.self().pos().dist(receive_pos) < 30.0&& wm.self().pos().dist(target_point) < 20.0){//      dlog.addText(Logger::TEAM, __FILE__": getDashPower. offside max power");return ServerParam::i().maxPower();}}//------------------------------------------------------// decide dash powerstatic bool s_recover_mode = false;if (wm.self().stamina() < ServerParam::i().staminaMax() * 0.4){//   dlog.addText(Logger::TEAM,//       __FILE__": getDashPower. change to recover mode.");s_recover_mode = true;}else if (wm.self().stamina() > ServerParam::i().staminaMax() * 0.7){//    dlog.addText(Logger::TEAM,
//        __FILE__": getDashPower. came back from recover mode");s_recover_mode = false;}const double my_inc = wm.self().playerType().staminaIncMax()* wm.self().recovery();// dash powerif (s_recover_mode){// Magic Number.// recommended one cycle's stamina recover value//   dlog.addText(Logger::TEAM, __FILE__": getDashPower. recover mode");return std::max(0.0, my_inc - 30.0);}if (!wm.opponentsFromSelf().empty()&& wm.opponentsFromSelf().front()->distFromSelf() < 1.0){// opponent is very close// full powerdlog.addText(Logger::TEAM,__FILE__": getDashPower. exist near opponent. full power");return ServerParam::i().maxPower();}if (wm.ball().pos().x < wm.self().pos().x&& wm.self().pos().x < wm.offsideLineX()){// ball is back// not offside//   dlog.addText(Logger::TEAM,
//        __FILE__": getDashPower. ball is back and not offside.");if (wm.self().stamina() < ServerParam::i().staminaMax() * 0.8){return std::min(std::max(5.0, my_inc - 30.0), ServerParam::i().maxPower());}else{return std::min(my_inc * 1.1, ServerParam::i().maxPower());}}if (wm.ball().pos().x > wm.self().pos().x + 3.0){// ball is frontif (opp_min <= mate_min - 3){if (wm.self().stamina() < ServerParam::i().staminaMax() * 0.6){//      dlog.addText(Logger::TEAM,//          __FILE__": getDashPower. ball is front. recover");return std::min(std::max(0.1, my_inc - 30.0),ServerParam::i().maxPower());}else if (wm.self().stamina() < ServerParam::i().staminaMax() * 0.8){//       dlog.addText(Logger::TEAM,//           __FILE__": getDashPower. ball is front. keep");return std::min(my_inc, ServerParam::i().maxPower());}else{//       dlog.addText(Logger::TEAM,
//            __FILE__": getDashPower. ball is front. max");return ServerParam::i().maxPower();}}else{//     dlog.addText(Logger::TEAM,//         __FILE__": getDashPower. ball is front full powerr");return ServerParam::i().maxPower();}}// dlog.addText(Logger::TEAM, __FILE__": getDashPower. normal mode.");if (target_point.x > wm.self().pos().x + 2.0&& wm.self().stamina() > ServerParam::i().staminaMax() * 0.6){return ServerParam::i().maxPower();}else if (wm.self().stamina() < ServerParam::i().staminaMax() * 0.8){return std::min(my_inc * 0.9, ServerParam::i().maxPower());}else{return std::min(my_inc * 1.5, ServerParam::i().maxPower());}
}
//这个函数的主要作用就是返回maxPower，里面最为麻烦的是大量的计算和判断式，而且其中进行计算的具体数据不是特别地理解。bool
Bhv_AttackersMove::doCheckCrossPoint( rcsc::PlayerAgent * agent )
{const rcsc::WorldModel & wm = agent->world();if ( wm.self().pos().x < 35.0 ){return false;}const rcsc::PlayerObject * opp_goalie = wm.getOpponentGoalie();if ( opp_goalie && opp_goalie->posCount() > 2 ){rcsc::dlog.addText( rcsc::Logger::ROLE,__FILE__": doCheckCrossTarget  goalie should be checked" );return false;}//这里根据对手守门员的posCount进行判断的，这个函数所返回的值这里在不清楚rcsc::Vector2D opposite_pole( 46.0, 7.0 );if ( wm.self().pos().y > 0.0 ) opposite_pole.y *= -1.0;
//这里进行的是y数值的方向变化，应该是类似个人坐标系的变化rcsc::AngleDeg opposite_pole_angle = ( opposite_pole - wm.self().pos() ).th();if ( wm.dirCount( opposite_pole_angle ) <= 1 ){rcsc::dlog.addText( rcsc::Logger::ROLE,__FILE__": doCheckCrossTarget enough accuracy to angle %.1f",opposite_pole_angle.degree() );return false;}rcsc::AngleDeg angle_diff= agent->effector().queuedNextAngleFromBody( opposite_pole );if ( angle_diff.abs() > 100.0 ){rcsc::dlog.addText( rcsc::Logger::ROLE,__FILE__": doCheckCrossPoint. want to face opposite pole,"" but over view range. angle_diff=%.1f",angle_diff.degree() );return false;}agent->setNeckAction( new rcsc::Neck_TurnToPoint( opposite_pole ) );//转向操作agent->debugClient().addMessage( "NeckToOpposite" );rcsc::dlog.addText( rcsc::Logger::ROLE,__FILE__": doCheckCrossPoint Neck to oppsite pole" );return true;
}//这个函数虽然很长，但是代码并不是特别难懂，主要作用就是去抢球，在一些模块中都给下具体的注解
void
Bhv_AttackersMove::doGoToCrossPoint( rcsc::PlayerAgent * agent)
{rcsc::dlog.addText( rcsc::Logger::ROLE,__FILE__": doGoToCrossPoint" );const rcsc::WorldModel & wm = agent->world();//------------------------------------------------------// tackleif ( Bhv_BasicTackle( 0.75, 90.0 ).execute( agent ) ){return;}//----------------------------------------------// intercept checkint self_min = wm.interceptTable()->selfReachCycle();int mate_min = wm.interceptTable()->teammateReachCycle();int opp_min = wm.interceptTable()->opponentReachCycle();if ( self_min < mate_min|| ( mate_min != 0 // ! wm.existKickableTeammate()  //try mate_min > 1&& self_min <= 6&& wm.ball().pos().dist( M_home_pos ) < 10.0 )//|| wm.interceptTable()->isSelfFastestPlayer()){rcsc::dlog.addText( rcsc::Logger::ROLE,__FILE__": doGoToCross. get ball" );agent->debugClient().addMessage( "CrossGetBall" );rcsc::Body_Intercept2009().execute( agent );if ( self_min == 3 && opp_min >= 3 ){agent->setViewAction( new rcsc::View_Normal() );}if ( wm.self().pos().x > 30.0 ){if ( ! doCheckCrossPoint( agent ) ){agent->setNeckAction( new rcsc::Neck_TurnToGoalieOrScan() );}}else{agent->setNeckAction( new rcsc::Neck_TurnToBallOrScan() );}return;}
//根据自己的位置来设置自身方向是对着对方守门员还是球//----------------------------------------------// ball owner checkif ( ! wm.interceptTable()->isOurTeamBallPossessor() ){const rcsc::PlayerObject * opp = wm.getOpponentNearestToBall( 3 );if ( opp&& opp->distFromSelf() < 2.0 ) //3.0?{rcsc::dlog.addText( rcsc::Logger::ROLE,__FILE__": doGoToCross. opp has ball" );agent->debugClient().addMessage( "CrossOppOwn(2)" );Bhv_BasicMove().execute( agent );return;}}
//看到这里的log应该就能明白，对方持球人员进入了自己的拦截范围，进行抢球的准备//----------------------------------------------// set targetrcsc::Vector2D target_point = M_home_pos;rcsc::Vector2D trap_pos = ( mate_min < 100? wm.ball().inertiaPoint( mate_min ): wm.ball().pos() );if ( mate_min <= opp_min&& mate_min < 3&& target_point.x < 38.0&& wm.self().pos().x < wm.offsideLineX() - 1.0//&& target_point.x < wm.self().pos().x//&& std::fabs( target_point.x - wm.self().pos().x ) < 20.0&& std::fabs( target_point.y - wm.self().pos().y ) < 5.0&& std::fabs( wm.self().pos().y - trap_pos.y ) < 13.0){target_point.y = wm.self().pos().y * 0.9 + M_home_pos.y * 0.1;rcsc::dlog.addText( rcsc::Logger::ROLE,__FILE__": doGoToCross. chance keep current." );agent->debugClient().addMessage( "CrossCurPos" );}
//这里的话也就是参数比较难理解，执行的动作和前面一样的。// consider near opponentif ( target_point.x > 36.0 ){double opp_dist = 200.0;const rcsc::PlayerObject * opp = wm.getOpponentNearestTo( target_point,10,&opp_dist );//参数不太理解，from to？？？if ( opp && opp_dist < 2.0 ){rcsc::Vector2D tmp_target = target_point;for ( int i = 0; i < 3; ++i ){tmp_target.x -= 1.0;double d = 0.0;opp = wm.getOpponentNearestTo( tmp_target, 10, &d );if ( ! opp ){opp_dist = 0.0;target_point = tmp_target;break;}if ( opp&& opp_dist < d ){opp_dist = d;target_point = tmp_target;}}rcsc::dlog.addText( rcsc::Logger::ROLE,__FILE__": doGoToCross. avoid(%.2f, %.2f)->(%.2f, %.2f)",M_home_pos.x, M_home_pos.y,target_point.x, target_point.y );agent->debugClient().addMessage( "Avoid" );}}if ( target_point.dist( trap_pos ) < 6.0 ){rcsc::Circle2D target_circle( trap_pos, 6.0 );rcsc::Line2D target_line( target_point, rcsc::AngleDeg( 90.0 ) );rcsc::Vector2D sol_pos1, sol_pos2;int n_sol = target_circle.intersection( target_line, &sol_pos1, &sol_pos2 );if ( n_sol == 1 ) target_point = sol_pos1;if ( n_sol == 2 ){target_point = ( wm.self().pos().dist2( sol_pos1 ) < wm.self().pos().dist2( sol_pos2 )? sol_pos1: sol_pos2 );}rcsc::dlog.addText( rcsc::Logger::ROLE,__FILE__": doGoToCross. adjust ot avoid the ball owner." );agent->debugClient().addMessage( "Adjust" );}
//这里的逻辑没有整明白，没有思考到对应的场景//----------------------------------------------// set dash power// check X buffer & staminastatic bool s_recover_mode = false;if ( wm.self().pos().x > 35.0&& wm.self().stamina()< rcsc::ServerParam::i().recoverDecThrValue() + 500.0 ){s_recover_mode = true;//模式调整，个人觉得引入的模式机制很nicercsc::dlog.addText( rcsc::Logger::ROLE,__FILE__": doGoToCross. recover on" );}if ( wm.self().stamina() > rcsc::ServerParam::i().staminaMax() * 0.5 ){s_recover_mode = false;rcsc::dlog.addText( rcsc::Logger::ROLE,__FILE__": doGoToCross. recover off" );}
//根据体力调整 s_recover_mode double dash_power = rcsc::ServerParam::i().maxPower();if ( s_recover_mode ){const double my_inc= wm.self().playerType().staminaIncMax()* wm.self().recovery();dash_power = std::max( 1.0, my_inc - 25.0 );//dash_power = wm.self().playerType().staminaIncMax() * 0.6;}else if ( wm.ball().pos().x > wm.self().pos().x ){if ( wm.existKickableTeammate()&& wm.ball().distFromSelf() < 10.0&& std::fabs( wm.self().pos().x - wm.ball().pos().x ) < 5.0&& wm.self().pos().x > 30.0&& wm.ball().pos().x > 35.0 ){dash_power *= 0.5;}}else if ( wm.self().pos().dist( target_point ) < 3.0 ){const double my_inc= wm.self().playerType().staminaIncMax()* wm.self().recovery();dash_power = std::min( rcsc::ServerParam::i().maxPower(),my_inc + 10.0 );//dash_power = rcsc::ServerParam::i().maxPower() * 0.8;}else if ( mate_min <= 1&& wm.ball().pos().x > 33.0&& wm.ball().pos().absY() < 7.0&& wm.ball().pos().x < wm.self().pos().x&& wm.self().pos().x < wm.offsideLineX()&& wm.self().pos().absY() < 9.0&& std::fabs( wm.ball().pos().y - wm.self().pos().y ) < 3.5&& std::fabs( target_point.y - wm.self().pos().y ) > 5.0 ){dash_power = wm.self().playerType().getDashPowerToKeepSpeed( 0.3, wm.self().effort() );dash_power = std::min( rcsc::ServerParam::i().maxPower() * 0.75,dash_power );rcsc::dlog.addText( rcsc::Logger::ROLE,__FILE__": doGoToCross. slow for cross. power=%.1f",dash_power );}
//逻辑都是容易理解的，但是感觉参数和计算很乱很繁琐，而且不知道为什么会这么考虑，可能改代码，大量的工作都在这一部分
#if 1bool intentional = true;    //false;const Vector2D mate_trap_pos = wm.ball().inertiaPoint(mate_min);const double max_x = std::max(wm.offsideLineX(), mate_trap_pos.x);if (wm.existKickableTeammate() || mate_min <= 5 || mate_min <= opp_min + 1){}else if (M_forward_player//&& wm.audioMemory().dribbleTime() != wm.time()&& mate_min <= 2 && opp_min >= 3&& mate_trap_pos.x > wm.offsideLineX() - 10.0&& wm.self().stamina() > ServerParam::i().staminaMax() * 0.8&& 5.0 < wm.self().pos().x && wm.self().pos().x < 27.0&& wm.self().pos().x > max_x - 7.0 && wm.self().pos().x < max_x - 1.0&& wm.self().pos().x < mate_trap_pos.x + 10.0&& (std::fabs(mate_trap_pos.y - wm.self().pos().y) < 8.0|| (mate_trap_pos - wm.self().pos()).th().abs() < 110.0//|| ( mate_trap_pos.x > wm.offsideLineX() - 8.0//     && std::fabs( mate_trap_pos.y - wm.self().pos().y ) < 20.0 )) && wm.self().pos().dist(mate_trap_pos) < 20.0&& std::fabs(M_home_pos.y - wm.self().pos().y) < 15.0){double x_diff = max_x - wm.self().pos().x;int dash_step = wm.self().playerType().cyclesToReachDistance(x_diff);if (mate_min < dash_step - 1){target_point.x = std::min(wm.self().pos().x + 20.0, 50.0);target_point.y = wm.self().pos().y * 0.8 + mate_trap_pos.y * 0.2;if (target_point.absY() > 8.0&& target_point.absY() > M_home_pos.absY()){//          target_point.y = M_home_pos.y;}intentional = true;}}
#endif // 1//----------------------------------------------// positioning to make the cross course!!double dist_thr = wm.ball().distFromSelf() * 0.1;if ( dist_thr < 0.5 ) dist_thr = 0.5;agent->debugClient().addMessage( "GoToCross%.0f", dash_power );agent->debugClient().setTarget( target_point );agent->debugClient().addCircle( target_point, dist_thr );rcsc::dlog.addText( rcsc::Logger::ROLE,__FILE__": doGoToCross. to (%.2f, %.2f)",target_point.x, target_point.y );if ( wm.self().pos().x > target_point.x + dist_thr&& std::fabs( wm.self().pos().x - target_point.x ) < 3.0&& wm.self().body().abs() < 10.0 ){agent->debugClient().addMessage( "Back" );double back_dash_power= wm.self().getSafetyDashPower( -dash_power );rcsc::dlog.addText( rcsc::Logger::ROLE,__FILE__": doShootAreaMove. Back Move" );agent->doDash( back_dash_power );}else{if ( ! rcsc::Body_GoToPoint( target_point, dist_thr, dash_power,5, // cyclefalse, // no back dashtrue, // save recovery30.0 // dir thr).execute( agent ) ){rcsc::Body_TurnToAngle( 0.0 ).execute( agent );}else{if (intentional){//     agent->debugClient().addMessage("BreakAway");//    agent->debugClient().addMessage("Sayh");agent->addSayMessage(new PassRequestMessage(target_point));//     dlog.addText(Logger::TEAM, __FILE__": intention breakaway");agent->setArmAction(new Arm_PointToPoint(target_point));}}}if ( wm.self().pos().x > 30.0 ){agent->setNeckAction( new rcsc::Neck_TurnToGoalieOrScan() );}else{agent->setNeckAction( new rcsc::Neck_TurnToLowConfTeammate() );}
}
//进攻球员执行跑位的函数
bool
Bhv_AttackersMove::AttackersMove(PlayerAgent * agent)
{const WorldModel & wm = agent->world();//  dlog.addText(Logger::TEAM,
//      __FILE__": AttackerOffensiveMove. target=(%.2f %.2f)", M_home_pos.x,//    M_home_pos.y);//------------------------------------------------------// tackleif (Bhv_BasicTackle(0.75, 90.0).execute(agent)){return true;;}//------------------------------------------------------int self_min = wm.interceptTable()->selfReachCycle();int mate_min = wm.interceptTable()->teammateReachCycle();int opp_min = wm.interceptTable()->opponentReachCycle();// dlog.addText(Logger::TEAM,//     __FILE__": execute. intercept cycle. self=%d, mate=%d, opp=%d", self_min,//     mate_min, opp_min);//------------------------------------------------------if (wm.self().stamina() > ServerParam::i().staminaMax() * 0.6&& opp_min < 3&& opp_min < mate_min - 2&& (opp_min < self_min - 2 || opp_min == 0|| (opp_min == 1 && self_min > 1))&& wm.ball().pos().dist(M_home_pos) < 10.0&& wm.ball().distFromSelf() < 15.0){if (Body_ForestallBlock(agent))//这个函数上面解释过，球员在块之间的移动{agent->setNeckAction(new Neck_TurnToBall());
#ifdef DEBUG2014std::cerr << wm.time().cycle() << __FILE__ << wm.self().unum() << ": Body_ForestallBlock.\n";
#endifreturn true;}}//------------------------------------------------------if ((mate_min >= 2 && self_min <= 4)|| (self_min <= mate_min + 1 && mate_min >= 4)){//   dlog.addText(Logger::TEAM, __FILE__": execute. get ball");//   agent->debugClient().addMessage("AttGetBall");Vector2D face_point(52.5, wm.self().pos().y);Body_Intercept2009(true, face_point).execute(agent);if (self_min == 4 && opp_min >= 2){agent->setViewAction(new View_Wide());}else if (self_min == 3 && opp_min >= 2){agent->setViewAction(new rcsc::View_Normal());}agent->setNeckAction(new Neck_TurnToBallOrScan());
#ifdef DEBUG2014std::cerr << wm.time().cycle() << __FILE__ << wm.self().unum() << ": Body_Intercept.\n";
#endif // DEBUG2014return true;}
//函数最终执行的结果都简单，难点都是在于各种情形的计算判断//------------------------------------------------------const Vector2D mate_trap_pos = wm.ball().inertiaPoint(mate_min);Vector2D target_point = M_home_pos;const double max_x = std::max(wm.offsideLineX(), mate_trap_pos.x);
//  dlog.addText(Logger::TEAM, __FILE__": max x = %.1f", max_x);if (wm.self().pos().x > max_x && wm.self().pos().x < 42.0//&& std::fabs( wm.self().pos().y - M_home_pos.y ) < 10.0){target_point.y = wm.self().pos().y;}if (std::fabs(mate_trap_pos.y - M_home_pos.y) < 15.0|| mate_trap_pos.x > max_x - 5.0){if (target_point.x > max_x - 1.5){target_point.x = std::min(M_home_pos.x, max_x - 1.5);}}else{if (target_point.x > max_x - 3.0){target_point.x = std::min(M_home_pos.x, max_x - 3.0);}}
//各种计算移动的目标位置的x
#if 1// 2008-04-23 akiyamaif (mate_min >= 3 && wm.self().pos().dist2(target_point) < 5.0 * 5.0){double opp_dist = 1000.0;const PlayerObject * opp = wm.getOpponentNearestTo(target_point, 10,&opp_dist);if (opp && opp_dist < 4.0 && std::fabs(opp->pos().y - target_point.y) < 2.0){//             target_point.y += ( target_point.y > opp->pos().y
//                                 ? +3.0
//                                 : -3.0 );target_point.y = (target_point.y > opp->pos().y ?opp->pos().y + 2.0 : opp->pos().y - 2.0 );
//      dlog.addText(Logger::TEAM,//         __FILE__": adjust target point to avvoid opponent. y=%.1f",//         target_point.y);}}
#endif
#if 1// 2008-04-28 akiyamaif (mate_min < 3 && std::fabs(wm.self().pos().y - M_home_pos.y) < 3.0){target_point.y = wm.self().pos().y * 0.9 + M_home_pos.y * 0.1;;//   dlog.addText(Logger::TEAM,//      __FILE__": adjust target point to prepare receive. y=%.1f",//      target_point.y);}
#endifbool breakaway = false;bool intentional = false;if (wm.existKickableTeammate() || mate_min <= 5 || mate_min <= opp_min + 1){if (wm.self().pos().x > max_x){if (std::fabs(mate_trap_pos.y - target_point.y) < 4.0){double abs_y = wm.ball().pos().absY();bool outer = (wm.self().pos().absY() > abs_y );if (abs_y > 25.0)target_point.y = (outer ? 30.0 : 20.0 );else if (abs_y > 20.0)target_point.y = (outer ? 25.0 : 15.0 );else if (abs_y > 15.0)target_point.y = (outer ? 20.0 : 10.0 );else if (abs_y > 10.0)target_point.y = (outer ? 15.0 : 5.0 );else if (abs_y > 5.0)target_point.y = (outer ? 10.0 : 0.0 );elsetarget_point.y = (outer ? 5.0 : -5.0 );if (wm.self().pos().y < 0.0){target_point.y *= -1.0;}//     agent->debugClient().addMessage("AvoidOffside");//     dlog.addText(Logger::TEAM,//         __FILE__": avoid offside possibility. new_target=(%.1f %.1f)",//         target_point.x, target_point.y);}}else if (M_forward_player//&& wm.audioMemory().dribbleTime() != wm.time()&& mate_min <= 2 && opp_min >= 3&& mate_trap_pos.x > wm.offsideLineX() - 10.0&& wm.self().stamina() > ServerParam::i().staminaMax() * 0.8&& 5.0 < wm.self().pos().x && wm.self().pos().x < 27.0&& wm.self().pos().x > max_x - 7.0 && wm.self().pos().x < max_x - 1.0&& wm.self().pos().x < mate_trap_pos.x + 10.0&& (std::fabs(mate_trap_pos.y - wm.self().pos().y) < 8.0|| (mate_trap_pos - wm.self().pos()).th().abs() < 110.0//|| ( mate_trap_pos.x > wm.offsideLineX() - 8.0//     && std::fabs( mate_trap_pos.y - wm.self().pos().y ) < 20.0 )) && wm.self().pos().dist(mate_trap_pos) < 20.0&& std::fabs(M_home_pos.y - wm.self().pos().y) < 15.0){double x_diff = max_x - wm.self().pos().x;int dash_step = wm.self().playerType().cyclesToReachDistance(x_diff);if (mate_min < dash_step - 1){target_point.x = std::min(wm.self().pos().x + 20.0, 50.0);target_point.y = wm.self().pos().y * 0.8 + mate_trap_pos.y * 0.2;if (target_point.absY() > 8.0&& target_point.absY() > M_home_pos.absY()){target_point.y = M_home_pos.y;}intentional = true;}//     dlog.addText(Logger::TEAM, __FILE__": try breakaway=(%.1f %.1f)",//        target_point.x, target_point.y);breakaway = true;}}
//这两个参数用于下面计算dashpoweerconst double dash_power = (breakaway ?ServerParam::i().maxPower() : getDashPower(agent, target_point) );if (dash_power < 1.0){agent->debugClient().addMessage("AttackGoRecover");agent->debugClient().setTarget(target_point);AngleDeg face_angle = wm.ball().angleFromSelf() + 90.0;if (face_angle.abs() > 90.0)face_angle += 180.0;Body_TurnToAngle(face_angle).execute(agent);agent->setNeckAction(new Neck_TurnToBallOrScan());return true;}///agent->debugClient().addMessage("AttackGo%.0f", dash_power);double dist_thr = std::fabs(wm.ball().pos().x - wm.self().pos().x) * 0.2+ 0.25;//double dist_thr = wm.ball().pos().dist( target_point ) * 0.1 + 0.5;if (dist_thr < 1.0)dist_thr = 1.0;if (target_point.x > wm.self().pos().x - 0.5&& wm.self().pos().x < wm.offsideLineX()&& std::fabs(target_point.x - wm.self().pos().x) > 1.0){dist_thr = std::min(1.0, wm.ball().pos().dist(target_point) * 0.1 + 0.5);}// agent->debugClient().setTarget(target_point);
//  agent->debugClient().addCircle(target_point, dist_thr);// dlog.addText(Logger::TEAM,
//      __FILE__": execute. go to (%.2f, %.2f) dash_power=%.2f", target_point.x,
//      target_point.y, dash_power);if (Body_GoToPoint(target_point, dist_thr, dash_power, 100, // cyclefalse, // backtrue, // stamina save25.0 // angle threshold).execute(agent)){if (intentional){//     agent->debugClient().addMessage("BreakAway");//    agent->debugClient().addMessage("Sayh");agent->addSayMessage(new PassRequestMessage(target_point));//     dlog.addText(Logger::TEAM, __FILE__": intention breakaway");agent->setArmAction(new Arm_PointToPoint(target_point));}#ifdef DEBUG2014std::cerr << wm.time().cycle() << __FILE__ << wm.self().unum() << ": Body_GoToPoint.\n";#endif // DEBUG2014}else{AngleDeg body_angle(0.0);Body_TurnToAngle(body_angle).execute(agent);}if (agent->world().ball().posCount() <= 1){agent->setNeckAction(new Neck_ScanField());}else{agent->setNeckAction(new Neck_TurnToBallOrScan());}return true;
}

今天算是把基本移动的函数认真看了一下，总的来说，相比第一次认识到了很多新的东西，包括以前根本不会去看的各种计算和判断，现在部分可以进行模拟尝试着理解，但疑问依然不少，还需要后面进一步理解。

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