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, // cycle
false, // no back dash
true, // save recovery
40.0 // 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 power
static 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 power
if (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 power
dlog.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 front
if (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();
//------------------------------------------------------
// tackle
if ( Bhv_BasicTackle( 0.75, 90.0 ).execute( agent ) )
{
return;
}
//----------------------------------------------
// intercept check
int 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 check
if ( ! 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 target
rcsc::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 opponent
if ( 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 & stamina
static 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nice
rcsc::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 1
bool 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, // cycle
false, // no back dash
true, // save recovery
30.0 // 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);
//------------------------------------------------------
// tackle
if (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 DEBUG2014
std::cerr << wm.time().cycle() << __FILE__ << wm.self().unum() << ": Body_ForestallBlock.\n";
#endif
return 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 DEBUG2014
std::cerr << wm.time().cycle() << __FILE__ << wm.self().unum() << ": Body_Intercept.\n";
#endif // DEBUG2014
return 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 akiyama
if (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 akiyama
if (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);
}
#endif
bool 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 );
else
target_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dashpoweer
const 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, // cycle
false, // back
true, // stamina save
25.0 // 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 DEBUG2014
std::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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