合工大机器人足球仿真robocup2D球队代码实验七实验验收
//这是2020年某上海第一建筑施工队亚军球队代码，仅供参考
/*
Copyright (c) 2000-2003, Jelle Kok, University of Amsterdam
All rights reserved.
Modified by ming gao Hfut..for server V14
1). dash dirction for not only forward and back but also left right and other 45*(-3,-1,1,3) dirction,,
2). add Stamina.Capacity and the senceHandle analy systerm and worldmodel update
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. Neither the name of the University of Amsterdam nor the names of its
contributors may be used to endorse or promote products derived from this
software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/*! \file PlayerTeams.cpp
<pre>
<b>File:</b> PlayerTest.cpp
<b>Project:</b> Robocup Soccer Simulation Team: UvA Trilearn
<b>Authors:</b> Jelle Kok
<b>Created:</b> 10/12/2000
<b>Last Revision:</b> $ID$
<b>Contents:</b> This file contains the class definitions for the
Player that are used to test the teams' high level
strategy.
<hr size=2>
<h2><b>Changes</b></h2>
<b>Date</b> <b>Author</b> <b>Comment</b>
10/12/2000 Jelle Kok Initial version created
</pre>
*/
#include "Player.h"
/*!This method is the first complete simple team and defines the actions taken
by all the players on the field (excluding the goalie). It is based on the
high-level actions taken by the simple team FC Portugal that it released in
2000. The players do the following:
- if ball is kickable
kick ball to goal (random corner of goal)
- else if i am fastest player to ball
intercept the ball
- else
move to strategic position based on your home position and pos ball */
///misol.gao fixed--->
///澶у濂斤紒寰堥珮鍏翠綘浠壘鍒颁簡杩欎釜鍑芥暟锛佽繖涓嚱鏁帮紝灏辨槸鎴戜滑鐞冮槦鍐崇瓥鐨勮捣鐐癸紝鎵€鏈夌殑姣旇禌绛栫暐閮藉湪杩欓噷锛屼粠杩欓噷鍑哄彂锛屼笉浼氶敊鐨勶紒
/// deMeer5 鏄悆鍛樼殑绛栫暐鍑芥暟锛?鍦ㄤ笅闈綘浠細鍙戠幇 deMeer5_goalie 閭ｄ釜鏄畧闂ㄥ憳鐨勶紝鐩墠鍩烘湰鍙互蹇界暐銆?
SoccerCommand Player::deMeer5( )
{
SoccerCommand soc(CMD_ILLEGAL);// 瀹氫箟涓€涓懡浠ゅ璞★紝鍚庨潰浼氶绻佺敤瀹冩潵鏋勯€犱竴涓悆鍛樺姩浣滃懡浠?
VecPosition posAgent = WM->getAgentGlobalPosition();// 涓€涓偣瀵硅薄锛岃〃绀篈gent(鍙互鐞嗚В鎴愬綋鍓嶅湪鎵ц杩欎釜浠ｇ爜鐨勭悆鍛樺畠鑷繁)鐨勪綅缃?
///涓嬮潰鎴戜滑鎶娾€滄垜鈥滃氨鐞嗚В鎴愬綋鍓嶆墽琛岃繖涓唬鐮佺殑Agent锛屽洜涓烘湁11涓悆鍛樺湪鎵ц杩欎釜浠ｇ爜锛屾墍浠ュ浜庢瘡涓悆鍛?鑲畾鏈変竴涓€滄垜鈥濆瓨鍦ㄣ€?
VecPosition posBall = WM->getBallPos();// 鐞冪殑浣嶇疆
int iTmp;
if ( WM->isBeforeKickOff( ) ) /// 濡傛灉杩樻病鏈夊紑鐞?娉ㄦ剰锛?杩欓噷鍙槸杩樻病鏈夊紑鐞冪殑鎯呭喌锛?瑕佸仛寮€鐞冨悗鐨勫喅绛栵紝鍚戜笅闈㈢户缁壘鍙﹀涓€涓?WM->isBeforeKickOff( )
{
if ( WM->isKickOffUs( ) && WM->getPlayerNumber() == 9 ) // 9 takes kick //灏辨壘9鍙峰幓寮€鐞冿紙鍒ゆ柇浜嗘槸涓嶆槸鎴戜滑寮€鐞冿紝鍜屾垜"Agent"鏄笉鏄?鍙凤級
{
if ( WM->isBallKickable() )// 褰撶悆瀵逛簬鎴戞潵璇存槸涓嶆槸鍙涪锛?
{
VecPosition posGoal( PITCH_LENGTH/2.0,
(-1 + 2*(WM->getCurrentCycle()%2)) *
0.4 * SS->getGoalWidth() );// 璁＄畻涓€涓皠闂ㄧ偣
soc = kickTo( posGoal, SS->getBallSpeedMax() ); // kick maximal 浠ユ渶澶ч€熷害鎶婄悆韪㈠悜灏勯棬鐐癸紒
Log.log( 100, "take kick off" );
}
else //濡傛灉鐞冨浜庢垜涓嶅彲韪紝閭ｆ垜灏卞幓鎶㈢悆锛?
{
soc = intercept( false );
Log.log( 100, "move to ball to take kick-off" );
}
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
return soc;
}
//涓嬮潰涓嶇敤绠★紒
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( ) );
}
}
else /// 杩欎釜else 澶у搴旇鍙互鐭ラ亾锛屾槸寮€鐞冧互鍚庣殑鍐崇瓥锛?涔熷氨鏄渶閲嶈鐨勬瘮璧涙甯告ā寮忎笅鐨勫喅绛栵紒 寰堥噸瑕侊紝鎴戜滑灏变粠杩欓噷寮€濮嬶紒锛侊紒锛?Start锛?
{
formations->setFormation( FT_433_OFFENSIVE );//璁剧疆鐞冮槦鍑哄満闃靛舰锛?
soc.commandType = CMD_ILLEGAL;//鍒濆鍖杝oc鍛戒护瀵硅薄
///test SoccerCommand(CMD_DASH, 80, 45) for v14 ... fixed by misol.gao
/* if ( WM->getPlayerNumber() == 8 )
{
soc = SoccerCommand(CMD_DASH, 80, 45);
ACT->putCommandInQueue( soc ); // 鏀惧叆鍛戒护闃熷垪
ACT->putCommandInQueue( alignNeckWithBody() );
return soc;
}*/
if ( WM->getConfidence( OBJECT_BALL ) < PS->getBallConfThr() )//鍒ゆ柇瀵圭悆鐨勫彲淇″害锛屽鏋滃皬浜庢煇涓槇鍊硷紝鍒?..涔熷氨鏄锛屽鏋滃緢澶氬懆鏈熸病鏈夌湅鍒扮悆鍦ㄥ摢閲屼簡
{
ACT->putCommandInQueue( soc = searchBall() ); // if ball pos unknown //鎵ц鎵剧悆鍔ㄤ綔锛佸苟鏀惧叆鍛戒护闃熷垪
ACT->putCommandInQueue( alignNeckWithBody( ) ); // search for it //鍚屾椂鎶婅剸瀛愰殢韬綋涓€璧疯浆
}
else if ( WM->isBallKickable()) // if kickable // 濡傛灉鐞冨凡鐭ワ紝鑰屼笖褰撳墠鐞冨湪鎴戣剼涓?鍙涪)
{
/*
wm->ndjvnjdsnjvkxjc???
cdskvkvmnsncmsm;;
s,c,,s,c,s,c ''
asmdkasmkcs,???
fw3f,smcscsc
s,xs,c ,sca
aslc,salc,ac
*/
//浠ヤ笂鏄紪璇戞í鍛戒护锛屼笉鐢ㄧ
Log.log( 100, "chongf f f f !!!", iTmp );
soc = intercept( false );
if ( soc.commandType == CMD_DASH &&
WM->getAgentStamina().getStamina() <
SS->getRecoverDecThr()*SS->getStaminaMax()+200 )
{
soc.dPower = 30.0 * WM->getAgentStamina().getRecovery();
}
else
{
VecPosition posGoal(PITCH_LENGTH/2.0,
(-1+2*(WM->getCurrentCycle()%2))*0.4*SS->getGoalWidth());
soc = kickTo(posGoal,SS->getBallSpeedMax());
ACT->putCommandInQueue( soc ); // 鏀惧叆鍛戒护闃熷垪
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) ); // 鎶婅剸瀛愯浆鍚戠悆锛屼篃灏辨槸涓€鐩寸湅鐫€鐞?
Log.log( 100, "kick ball" );
}}
else if ( WM->getFastestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL, &iTmp )
== WM->getAgentObjectType() && !WM->isDeadBallThem() ) // 濡傛灉鐞冧笉鍦ㄦ垜鐨勬帶鍒惰寖鍥翠笅锛屼絾鏄綋鍓嶈兘鏈€蹇姠鍒扮悆鐨勬槸鎴戯紝閭ｆ垜灏卞幓鎵ц鎶㈢悆鍔ㄤ綔
{ // 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 // 杩欓噷鏄浣撳姏鐨勪竴涓繚鎶わ紝浣撳姏杩囦綆灏辨妸Dash鐨刣Power鍑忓皬 淇濇姢浣撳姏
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) // 鍒颁簡杩欓噷灏辨槸鍏朵粬璺濈鐞冪浉瀵硅繙涓€鐐圭殑浜轰簡锛屽鏋滅鑷繁鐨勯樀褰㈢偣澶繙锛屽氨璺戝洖 鑷繁鐨勯樀褰㈢偣鍘汇€?
// 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 //鍏朵粬鍓╀笅鐨勭悆鍛樺憿锛屽氨鐪嬬悆銆傦紒
{///杩欓噷灏辨槸鏃犵悆闃熷憳鐨勮窇浣嶅喅绛?
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( ) )
{/*
a,a mav
sadasd
xc
x
cx
c
x
c
x
c
x
c
xc
x
x
x
x
x
xx
*/
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
//This is a joke!!!
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;
}
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