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Update StrategySystem.cpp

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Xi Xu committed 2023-10-30 00:07:29 +08:00
1 parent 2db1e4ccde
commit 1cfd385640
1 file changed
+151 -21
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StrategySystem.cpp
+151 -21
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@@ -83,23 +83,56 @@ void CStrategySystem::Shot(int which) {
case HOME9:
robot = &home9;
break;
case HOME10:
robot = &home10;
case HOME1:
robot = &home1;
break;
}
CPoint t1, t2, t3;
CPoint t1, t2, t3, t4; // t1球，t2机器人,t3机器人要移动到的点，t4门
t1.x = ball.position.x;
t1.y = ball.position.y;
Direction(10, t1); // 机器人到足够近的点
t2.x = robot->position.x;
t2.y = robot->position.y;
if (Distance(t1, t2) == 1)
shot1(HOME10);
if (t1.y <= 313) {
t4.x = 65;
t4.y = 505;
}
if (t1.y >= 313)
t4.x = 65;
t4.y = 313;
// double O=Angle(t1,t4);
double O = atan(t4.y - t1.y * 1.0 / t4.x - t1.x);
t3.x = t1.x + cos(180 - O) * 20.0;
t3.y = t1.y + sin(180 - O) * 20.0;
if (Distance(t1, t2) <= 20 && Distance(t1, t2) >= 0)
shot1(which);
else {
Direction(which, t3); // 机器人到足够近的点
t2.x = robot->position.x;
t2.y = robot->position.y;
}
/*if (Distance(t1, t2) <= 10&&Distance(t1, t2) >=0)
shot1(which);*/
// if ()
// shot2();
}
void CStrategySystem::shot1(int which) { // 直射
Robot2 *robot;
switch (which) {
case HOME9:
robot = &home9;
break;
case HOME1:
robot = &home1;
break;
}
CPoint t; // t球
t.x = ball.position.x;
t.y = ball.position.y;
double o = atan(robot->position.y - t.y * 1.0 / robot->position.x - t.x); // 机器人面向球的角度
Angle(which, o); // 朝球转角度
Velocity(which, 127, 127); // 射门
}
/*void banarea(int which) //让9，10不进禁区
{
Robot2 *robot;
switch (which) {
case HOME9:
@@ -109,13 +142,13 @@ void CStrategySystem::shot1(int which) { // 直射
robot = &home10;
break;
}
CPoint t;
t.x = ball.position.x;
t.y = ball.position.y;
double o = atan(abs(robot->position.y - t.y) * 1.0 / abs(robot->position.x - t.x));
Angle(which, o); // 朝向球角度
Velocity(which, 127, 127); // 射门
}
CPoint t1, t2;//t1球
t1.x = ball.position.x;
t1.y = ball.position.y;
t2.x = robot->position.x;
t2.y = robot->position.y;
if((t1.x>=65&&1.x<=103&&t1.y>=247&&t1.y<=577)||(t2.x+1==))
}*/
void CStrategySystem::shot2(int which) { // 旋射
Robot2 *robot;
@@ -133,14 +166,110 @@ int CStrategySystem::search() { // 查找在禁区里的机器人
return 0;
}
void CStrategySystem::control(int which) {
Robot2 *robot;
switch (which) {
case HOME1:
robot = &home1;
break;
case HOME2:
robot = &home2;
break;
case HOME3:
robot = &home3;
break;
case HOME4:
robot = &home4;
break;
case HOME5:
robot = &home5;
break;
case HOME6:
robot = &home6;
break;
case HOME7:
robot = &home7;
break;
case HOME8:
robot = &home8;
break;
case HOME9:
robot = &home9;
break;
case HOME10:
robot = &home10;
break;
case HGOALIE:
robot = &hgoalie;
break;
}
// 进攻区域
if (ball.position.x <= 665) {
// 对方罚球区内
if (ball.position.x <= 160 && ball.position.y >= 607 && ball.position.y <= 217) {
Position(which, CPoint(160, ball.position.y));
}
// 对方下半场
else if (ball.position.y > 607) {
// 机器人在球右下
if (robot->position.y < ball.position.y && robot->position.x > ball.position.x) {
Position(which, ball.position);
}
// 机器人在球右上
else if (robot->position.y > ball.position.y && robot->position.x > ball.position.x) {
// 绕道球下方
// Velocity(which, vL, vR);
}
// 机器人在球左上
else if (robot->position.y < ball.position.y && robot->position.x < ball.position.x) {
}
// 机器人在球左下
else {
}
}
// 对方中场
else if (ball.position.y < 217 && ball.position.y >= 572) {
// 机器人在球的右下或右中
if (robot->position.x > ball.position.x && robot->position.y <= ball.position.y) {
Direction(which, ball.position);
}
// 在机器人在球右上
else if (robot->position.x > ball.position.x && robot->position.y > ball.position.y) {
// 右上且距离较远
if (robot->position.y >= ball.position.y + 100) {
Position(which, CPoint(ball.position.x - 20, ball.position.y + 30));
}
// 距离较近
else {
Position(which, CPoint(ball.position.x - 10, ball.position.y));
}
}
}
// else
}
else if (robot->position.x > ball.position.x && robot->position.x >= 160)
Direction(which, ball.position);
}
// 控球，需调用 Shot
void CStrategySystem::Possession() {
control(1);
control(2);
control(3);
control(4);
control(5);
control(6);
control(7);
control(8);
control(9);
control(10);
// TODO: Possession
// 定义五个控球的机器人
Robot2 robot1 = home1, robot2 = home2, robot3 = home3, robot4 = home4, robot5 = home5;
/*Robot2 robot1 = home1, robot2 = home2, robot3 = home3, robot4 = home4, robot5 = home5;
CPoint t0, t1, t2, t3, t4, t5;
t0.x = ball.position.x;
t0.y = ball.position.y;
t0.y = ball.position.y;*/
// if (ball.position.x < 515 && home2.position.x > ball.position.x && home2.position.x < ball.position.x）{
// Position(HOME2, CPoint(ball.position.x, ball.position.y));
// }
@@ -148,9 +277,9 @@ void CStrategySystem::Possession() {
// 宏观占位策略：进攻时留3个人守在门框，防守时所有人压球于角
// 宏观（控球时）占位策略：控球人要均匀围满球前进方向的侧后，不可扎堆于一点
// 宏观踢球策略：
// 如果球在左1/3区，离球最近的6个机器人尽力往球门踢
// 如果球在中1/3区，离球最近的6个机器人往左方上下侧踢
// 如果球在右1/3区，所有机器人往右方两角压球。
// 如果球在左1/3区，离球最近的6个机器人尽力往球门踢（攻）
// 如果球在中1/3区，离球最近的6个机器人往左方上下侧踢（攻）
// 如果球在右1/3区，所有机器人往右方两角压球。(防)
}
// 守门
@@ -233,7 +362,7 @@ double CStrategySystem::Distance(CPoint point1, CPoint point2) {
}
double CStrategySystem::Angle(CPoint point1, CPoint point2) {
return atan2(1.0 * (point1.y - point2.y), 1.0 * (point1.x - point2.x));
return atan2(1.0 * (point1.y - point2.y), 1.0 * (point2.x - point1.x));
}
void CStrategySystem::Direction(int which, CPoint point) {
@@ -352,6 +481,7 @@ void CStrategySystem::Action() {
break;
}
Goalie();
// Shot(1);
}
void CStrategySystem::Angle(int which, int desired_angle) {