踢球的方法1

一.核心代码结构

// 基础头文件（依赖平台SDK）
#include <rcsc/player/player_agent.h>
#include <rcsc/geom/vector_2d.h>
using namespace rcsc;

// 自定义世界模型类
class WorldModel {
public:
    void update(const PlayerAgent* agent) {
        // 从agent获取实时信息
        wm_ball = agent->world().ball().pos();
        wm_self = agent->world().self().pos();
        // 更新队友/对手位置
        updateTeammates(agent);
        updateOpponents(agent);
    }
    
    Vector2D ballPos() const { return wm_ball; }
    Vector2D selfPos() const { return wm_self; }
    
private:
    Vector2D wm_ball;
    Vector2D wm_self;
    std::vector<Vector2D> teammates;
    std::vector<Vector2D> opponents;
};

// 决策主类继承官方PlayerAgent
class MyPlayer : public PlayerAgent {
public:
    MyPlayer() : wm(new WorldModel) {}
    
    // 主决策入口
    void actionImpl() override {
        wm->update(this);
        
        if (isGoalie()) {
            executeGoalieBehavior();
        } else {
            fieldPlayerDecision();
        }
    }

private:
    std::unique_ptr<WorldModel> wm;
    
    // 门将行为
    void executeGoalieBehavior() {
        Vector2D move_point = calculateGoalieMove();
        doMove(move_point);
    }

    // 场员决策
    void fieldPlayerDecision() {
        if (shouldInterceptBall()) {
            interceptBall();
        } else if (isInAttackArea()) {
            executeAttack();
        } else {
            positioning();
        }
    }
};

二、关键模块实现

1. 世界状态感知

// 球轨迹预测
Vector2D predictBallTrajectory(int steps) {
    Vector2D vel = world().ball().vel();
    return wm_ball + vel * steps * 0.94; // 考虑空气阻力系数
}

// 判断是否最接近球
bool isClosestToBall() const {
    double my_dist = (selfPos() - ballPos()).r();
    for (const auto& tm : teammates) {
        if ((tm - ballPos()).r() < my_dist) return false;
    }
    return true;
}

2. 动作技能库

// 基础移动动作
void doMove(const Vector2D& target) {
    double dash_power = calcDashPower(target);
    double angle = (target - selfPos()).th();
    dash(dash_power, angle);
}

// 精确传球实现
void executePass(int receiver_unum) {
    PlayerObject* receiver = findTeammate(receiver_unum);
    Vector2D target_point = receiver->pos() + receiver->vel() * 0.5; // 提前量
    kickToPoint(target_point, 80); // 80%力量
}

// 射门计算
void shootToGoal() {
    Vector2D goal_pos(52.5, 0); // 对方球门坐标
    double angle_error = calcShootError(goal_pos);
    kick(100, angle_error); // 满力射门
}

三、策略逻辑示例

1.区域防守策略

void executeZoneDefense() {
    const Rect2D my_zone = getAssignedZone(world().self().unum());
    Vector2D ball_proj = predictBallTrajectory(5);
    
    if (my_zone.contains(ball_proj)) {
        interceptBall();
    } else {
        moveToZoneCenter(my_zone);
    }
}

2.快速反击

void fastCounterAttack() {
    if (isBallHolder()) {
        PlayerObject* forward = findFastestForward();
        if (isPassPathClear(forward)) {
            executePass(forward->unum());
        } else {
            dribbleToSpace();
        }
    } else {
        makeForwardRun();
    }
}

3.通信协议实现

// 发送消息给队友
void sendPositionMessage() {
    std::ostringstream oss;
    oss << "(say " << world().self().unum() 
        << " " << selfPos().x << " " << selfPos().y << ")";
    sendMessage(oss.str());
}

// 解析队友消息
void parseTeammateMessage(const std::string& msg) {
    int unum;
    double x, y;
    if (sscanf(msg.c_str(), "%d %lf %lf", &unum, &x, &y) == 3) {
        updateTeammatePosition(unum, Vector2D(x, y));
    }
}

4.性能优化技巧
 

// 空间索引加速查询
class SpatialHash {
public:
    void update(const std::vector<Player>& players) {
        grid_.clear();
        for (const auto& p : players) {
            int key = hashPosition(p.pos());
            grid_[key].push_back(p);
        }
    }
    
    std::vector<Player> queryArea(const Rect2D& area) {
        // 通过哈希快速检索区域内对象
    }
};

// 内存池优化
template<typename T>
class ObjectPool {
public:
    T* acquire() {
        if (pool_.empty()) return new T;
        T* obj = pool_.back();
        pool_.pop_back();
        return obj;
    }
    
    void release(T* obj) {
        pool_.push_back(obj);
    }
};

四、基础移动与感知

1.路径规划与避障

// 基于势场法的移动（示例）
void AdvancedPlayer::moveToTarget(const Vector2D& target) {
    const double max_speed = 1.0; // 最大速度限制
    Vector2D desired_velocity = (target - world().self().pos()).normalize() * max_speed;
    
    // 避障势场计算
    for (const auto& obj : world().opponents()) {
        if (obj.distFromSelf() < 3.0) {
            Vector2D repulse = (world().self().pos() - obj.pos()).normalize() 
                              * (3.0 / obj.distFromSelf());
            desired_velocity += repulse;
        }
    }
    
    // 执行移动
    doDash(desired_velocity.r(), desired_velocity.th() - world().self().body());
}

2.球状态感知

// 判断是否控球
bool hasBallControl() const {
    const double BALL_CONTROL_DIST = 0.5; // 控球判定距离
    return world().self().pos().dist(world().ball().pos()) < BALL_CONTROL_DIST 
           && world().self().body().abs() - world().ball().vel().th().abs() < 30.0;
}

五、 高级策略实现

1.动态角色分配

// 基于 Voronoi 图的位置分配
void assignRoles() {
    std::vector<Vector2D> positions = calculateVoronoiRegions();
    
    for (int unum = 1; unum <= 11; ++unum) {
        if (world().self().unum() == unum) {
            Vector2D target = positions[unum - 1];
            moveToTarget(target);
            break;
        }
    }
}

2.团队传球配合

// 三角传球策略
void executeTrianglePass() {
    const PlayerObject* left = findTeammateOnLeft();
    const PlayerObject* right = findTeammateOnRight();
    
    if (left && right && isPassSafe(left)) {
        kickToPoint(left->pos() + left->vel() * 0.8, 85.0); // 带提前量
    } else if (right && isPassSafe(right)) {
        kickToPoint(right->pos() + right->vel() * 0.6, 75.0);
    } else {
        dribbleToSpace(); // 无法传球则带球突破
    }
}

3.角球战术模板

void executeCornerKick() {
    if (world().self().isKickTaker()) {
        // 选择传中或短传
        if (findHeaderTarget()) {
            kickToGoalArea(90.0); // 高球传中
        } else {
            shortPassToNearest();
        }
    } else {
        // 其他球员跑位
        if (isNearPostPlayer()) {
            makeNearPostRun();
        } else {
            createSpaceMovement();
        }
    }
}

4.人盯人防守

void markOpponent(int opp_unum) {
    const PlayerObject* opponent = world().getOpponent(opp_unum);
    if (!opponent) return;

    Vector2D mark_pos = opponent->pos() + opponent->vel() * 0.5; // 预测位置
    mark_pos += (opponent->pos() - world().ball().pos()).normalize() * 1.5; // 保持安全距离
    
    moveToTarget(mark_pos);
    faceBall(); // 始终面向球
}

5.动态越位陷阱

void checkOffsideTrap() {
    if (isDefensiveLeader()) { // 防守指挥官触发
        double trap_line = calculateOffsideLine();
        if (world().ball().pos().x < trap_line - 5.0) {
            broadcastCommand("PUSH_LINE"); // 通知队友前压
        }
    }
}

6.加密通信格式

// 发送带校验的消息
void sendEncodedMessage(const std::string& msg) {
    std::string encoded = Base64::encode(msg); // 使用Base64编码
    agent->addSayMessage(encoded.substr(0, 50)); // 限制长度
}

// 解析队友消息
void parseMessage(const std::string& msg) {
    std::string decoded = Base64::decode(msg);
    std::istringstream iss(decoded);
    int code;
    double x, y;
    if (iss >> code >> x >> y) {
        updateTeammatePosition(code, Vector2D(x, y));
    }
}

7.快速球轨迹预测

// 使用二阶运动模型预测
Vector2D predictBallPos(int cycle) const {
    const double BALL_DECAY = 0.94; // 官方定义的衰减系数
    Vector2D pos = world().ball().pos();
    Vector2D vel = world().ball().vel();
    
    for (int i = 0; i < cycle; ++i) {
        pos += vel;
        vel *= BALL_DECAY;
    }
    return pos;
}

8.空间哈希加速查询

class SpatialHash {
public:
    void update(const std::vector<Player>& players) {
        grid.clear();
        for (const auto& p : players) {
            int key = hash(p.pos());
            grid[key].push_back(p);
        }
    }

    std::vector<Player> queryNearby(const Vector2D& center, double radius) {
        // 通过哈希快速检索附近球员
    }
};

9.实时状态记录

// 使用宏定义调试输出
#ifdef DEBUG
#define LOG_DEBUG(msg) do { \
    std::ofstream log("debug.log", std::ios::app); \
    log << world().time() << ": " << msg << std::endl; \
} while(0)
#else
#define LOG_DEBUG(msg)
#endif

// 使用示例
LOG_DEBUG("Ball pos: " << world().ball().pos());