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Xi Xu committed 2023-11-17 16:50:20 +08:00
1 parent 14cdb12a9b
commit 1fa5b731d6
2 files changed
+475 -256
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StrategySystem.cpp
+465 -250
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@@ -47,7 +47,6 @@ extern int nKick;
// }
// }
// 罚球
/*
void CStrategySystem::Penalty() {
srand(time(nullptr));
@@ -77,7 +76,6 @@ void CStrategySystem::Penalty() {
}
}*/
// 罚球
/* void CStrategySystem::Penalty() {
srand(time(nullptr));
int x = rand() % 2;
@@ -99,15 +97,68 @@ void CStrategySystem::Penalty() {
}
}*/
// 罚球
// void CStrategySystem::Penalty() {
// srand(time(nullptr));
// int x = rand() % 2;
// if (x) {
// Position(HOME1, CPoint(60, 313));
// }
// else {
// Position(HOME1, CPoint(60, 505));
// }
// }
// void CStrategySystem::Penalty() {
// if (home1.position.y < ball.position.y) {
// if (-home1.position.y != (-ball.position.y + 505) / (ball.position.x - 60) * (ball.position.x + 10) + (-505 - ((-ball.position.y + 505) / (ball.position.x - 60) * (ball.position.x + 10)))) {
// Position(HOME1, CPoint(ball.position.x + 10, -((-ball.position.y + 505) / (ball.position.x - 60) * (ball.position.x + 10) + (-505 - (-ball.position.y + 505) / (ball.position.x - 60) * (ball.position.x + 10)))));
// }
// Position(HOME1, CPoint(ball.position.x - 234, ball.position.y + 100));
// }
// else if (home1.position.y == ball.position.y) {
// Position(HOME1, CPoint(ball.position.x - 234, ball.position.y));
// }
// else {
// if (-home1.position.y != (-ball.position.y + 303) / (ball.position.x - 60) * (ball.position.x + 10) + (-303 - ((-ball.position.y + 303) / (ball.position.x - 60) * (ball.position.x + 10)))) {
// Position(HOME1, CPoint(ball.position.x - 234, -(-ball.position.y + 303) / (ball.position.x - 60) * (ball.position.x + 10) + (-303 - ((-ball.position.y + 303) / (ball.position.x - 60) * (ball.position.x + 10)))));
// }
// Position(HOME1, CPoint(ball.position.x - 234, ball.position.y + 100));
// }
// }
// void CStrategySystem::Penalty() {
// srand(time(nullptr));
// int x = rand() % 2;
// if (x) {
// if ((home1.position.x > ball.position.x + 24 + 1) || (home1.position.x < ball.position.x + 24 - 1) || (home1.position.y > ball.position.y + 10 + 1) || (home1.position.y > ball.position.y + 10 - 1)) {
// Position(HOME1, CPoint(ball.position.x + 24, ball.position.y + 10));
// }
// Position(HOME1, CPoint(ball.position.x - 233, ball.position.y - 97));
// // else {
// // //Position(HOME1, CPoint(36.5, 313));
// //
// // }
// }
// else {
// if ((home1.position.x > ball.position.x + 24 + 1) || (home1.position.x < ball.position.x + 24 - 1) || (home1.position.y > ball.position.y - 10 + 1) || (home1.position.y > ball.position.y - 10 - 1)) {
// Position(HOME1, CPoint(ball.position.x + 24, ball.position.y - 10));
// }
// Position(HOME1, CPoint(ball.position.x - 228, ball.position.y + 95));
// // else {
// // //Position(HOME1, CPoint(41.5, 505));
// // }
// }
// }
void CStrategySystem::Penalty() {
srand(time(nullptr));
int x = rand() % 2;
if (x) {
Position(HOME1, CPoint(60, 313));
if (home1.position.y < ball.position.y) {
Position(HOME1, CPoint(ball.position.x - 234, ball.position.y + 100));
}
else if (home1.position.y == ball.position.y) {
Position(HOME1, CPoint(ball.position.x - 234, ball.position.y));
}
else {
Position(HOME1, CPoint(60, 505));
Position(HOME1, CPoint(ball.position.x - 234, ball.position.y - 100));
}
}
@@ -251,15 +302,12 @@ void CStrategySystem::Canshot() // 射？
Robot2 *robot9, *robot10;
robot9 = &home9;
robot10 = &home10;
D1.x = 170;
D1.y = 265;
Position(HOME10, D1);
D2.x = 170;
D2.y = 409;
Position(HOME9, D2);
D1.x = 170;
D1.y = 265;
if ((ball.oldPosition.y - ball.position.y) >= 0) // 球上运动
{
// Shot(HOME9, 0);
if (ball.position.y <= 170) {
Position(HOME10, D1);
Shot(HOME9, 0);
@@ -269,36 +317,10 @@ void CStrategySystem::Canshot() // 射？
Shot(HOME10, 0);
}
}
// if (ball.position.y >= 409 && ball.position.x <= 515) // 球在敌方下半
// {
// D1.x = 170;
// D1.y = 265;
// Position(HOME10, D1);
// D2.x = 170;
// D2.y = 409;
// Position(HOME9, D2);
// if (ball.position.x >= 104 && ball.position.x <= 170 && ball.position.y >= 369 && ball.position.y <= 505 && (ball.oldPosition.y - ball.oldPosition.y) <= 0)
// Shot(HOME9, 0);
// if (ball.position.x >= 104 && ball.position.x <= 170 && ball.position.y >= 217 && ball.position.y < 369 && (ball.oldPosition.y - ball.oldPosition.y) <= 0)
// Shot(HOME10, 0);
// }
// else if (ball.position.y < 409 && ball.position.x < 515) // 球在敌方上半
// {
// D1.x = 170;
// D1.y = 556;
// Position(HOME10, D1);
// D2.x = 170;
// D2.y = 409;
// Position(HOME9, D2);
// if (ball.position.x >= 104 && ball.position.x <= 170 && ball.position.y >= 313 && ball.position.y <= 449 && (ball.oldPosition.y - ball.oldPosition.y) <= 0)
// Shot(HOME9, 1);
// if (ball.position.x >= 104 && ball.position.x <= 170 && ball.position.y > 449 && ball.position.y <= 607 && (ball.oldPosition.y - ball.oldPosition.y) <= 0)
// Shot(HOME10, 1);
// }
// else {
// Stop(9);
// Stop(10);
// }
else {
Position(HOME10, D1);
Position(HOME9, D2);
}
}
void CStrategySystem::shot1(int which, double o, CPoint t) { // 直射
@@ -340,247 +362,438 @@ int CStrategySystem::search() { // 查找在禁区里的机器人
return 0;
}
// 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);
void CStrategySystem::Navigate() // 给人要去的位置坐标导航（预判）
{
/*double d[11];
d[1] = Distance(ball.position, home1.position);
d[2] = Distance(ball.position, home2.position);
d[3] = Distance(ball.position, home3.position);
d[4] = Distance(ball.position, home4.position);
d[5] = Distance(ball.position, home5.position);
d[6] = Distance(ball.position, home6.position);
d[7] = Distance(ball.position, home7.position);
d[8] = Distance(ball.position, home8.position);
d[9] = Distance(ball.position, home9.position);
d[10] = Distance(ball.position, home10.position);*/
if (65 < ball.position.x <= 590) {
// TODO: Possession
// 定义五个控球的机器人
/*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;*/
// 对方罚球区内,包围门框
if (ball.position.x <= 160 && ball.position.y <= 600 && ball.position.y >= 210) {
// 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));
// }
// 个人行走细节策略：己方人不挡道，所有控球人绕球进攻方的侧后
// 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（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)
}
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 <= 590) {
// 对方罚球区内
if (ball.position.x <= 160) {
// Position(which, CPoint(160, ball.position.y));
Navigation[1] = (175, ball.position.y);
Navigation[2] = (175, ball.position.y + 20);
Navigation[3] = (175, ball.position.y - 20);
Navigation[4] = (190, ball.position.y);
Navigation[5] = (175, ball.position.y + 10);
Navigation[6] = (190, ball.position.y - 10);
Navigation[7] = (ball.position.x, 610);
Navigation[8] = (ball.position.x, 210);
Navigation[9] = (200, ball.position.y + 30);
Navigation[10] = (200, ball.position.y - 30);
}
// 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) {
Direction(which, ball.position);
// Velocity(which, 127, 127);
else if (ball.position.y >= 607) {
if (home1.position.x > ball.position.x) { // 球员在右
if (home1.position.y > ball.position.y) { // 球员在右下
Navigation[1] = ball.position;
}
else { // 球员在右下
Navigation[1] = (ball.position.x + 10, ball.position.y + 10);
}
}
// 机器人在球右上
else if (robot->position.y > ball.position.y && robot->position.x > ball.position.x) {
Direction(which, CPoint(ball.position.x + 10, ball.position.y));
// Velocity(which, vL, vR);
else { // 球员在左
if (home1.position.y > ball.position.y) { // 左下
Navigation[1] = ball.position;
}
else { // 左上
Navigation[1] = (ball.position.x - 10, ball.position.y + 10);
}
}
// 机器人在球左上
else if (robot->position.y < ball.position.y && robot->position.x < ball.position.x) {
// Position(which, CPoint(ball.));
if (home2.position.x > ball.position.x) {
if (home2.position.y > ball.position.y) {
Navigation[2] = ball.position;
}
else {
Navigation[2] = (ball.position.x + 10, ball.position.y + 20);
}
}
// 机器人在球左下
else {
Direction(which, CPoint(ball.position.x - 20, ball.position.y));
if (home2.position.y > ball.position.y) {
Navigation[2] = ball.position;
}
else {
Navigation[2] = (ball.position.x - 10, ball.position.y - 20);
}
}
if (home3.position.x > ball.position.x) {
if (home3.position.y > ball.position.y) {
Navigation[3] = ball.position;
}
else {
Navigation[3] = (ball.position.x + 20, ball.position.y + 10);
}
}
else {
if (home3.position.y > ball.position.y) {
Navigation[3] = ball.position;
}
else {
Navigation[3] = (ball.position.x - 20, ball.position.y - 10);
}
}
Navigation[4] = (ball.position.x + 10, ball.position.y + 10);
Navigation[5] = (ball.position.x + 10, ball.position.y);
Navigation[6] = (ball.position.x + 10, ball.position.y - 10);
Navigation[7] = (ball.position.x, ball.position.y + 10);
Navigation[8] = (ball.position.x - 10, ball.position.y + 10);
Navigation[9] = (ball.position.x + 20, ball.position.y);
Navigation[10] = (ball.position.x + 20, ball.position.y + 10);
//// Navigate(ball.position);
//// 机器人在球右下
// if (robot->position.y <= ball.position.y && robot->position.x >= ball.position.x) {
// Direction(which, ball.position);
// // Velocity(which, 127, 127);
// }
//// 机器人在球右上
// else if (robot->position.y > ball.position.y && robot->position.x > ball.position.x) {
// Direction(which, CPoint(ball.position.x + 10, ball.position.y));
// // 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) {
// // Position(which, CPoint(ball.));
// }
//// 机器人在球左下
// else {
// Direction(which, CPoint(ball.position.x - 20, ball.position.y));
// }
}
// 对方中场
else if (ball.position.y >= 217 && ball.position.y >= 607) {
// 机器人在球的右下
if (robot->position.x >= ball.position.x && robot->position.y <= ball.position.y) {
Direction(which, ball.position);
}
// 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) {
Direction(which, CPoint(ball.position.x + 20, ball.position.y + 20));
else if (ball.position.y >= 217 && ball.position.y < 607) {
if (home1.position.x > ball.position.x) {
if (home1.position.y < ball.position.y) {
Navigation[1] = ball.position;
}
// 距离较近
else {
Direction(which, CPoint(ball.position.x + 10, ball.position.y));
Navigation[1] = CPoint(ball.position.x + 10, ball.position.y - 10);
}
}
// 机器人在球左下
else if (robot->position.x <= ball.position.x && robot->position.y >= ball.position.y) {
Direction(which, CPoint(ball.position.x - 20, ball.position.y + 20));
}
// 机器人在球左上
else {
Direction(which, CPoint(ball.position.x - 20, ball.position.y - 20));
if (home1.position.y < ball.position.y) {
Navigation[1] = CPoint(ball.position.x, ball.position.y - 10);
}
else {
Navigation[1] = CPoint(ball.position.x - 10, ball.position.y - 10);
}
}
if (home2.position.x > ball.position.x) {
if (home2.position.y < ball.position.y) {
Navigation[2] = ball.position;
}
else {
Navigation[2] = CPoint(ball.position.x + 20, ball.position.y + 10);
}
}
else {
if (home2.position.y < ball.position.y) {
Navigation[1] = CPoint(ball.position.x, ball.position.y - 15);
}
else {
Navigation[1] = CPoint(ball.position.x - 10, ball.position.y - 15);
}
}
if (home3.position.x > ball.position.x) {
if (home3.position.y < ball.position.y) {
Navigation[3] = ball.position;
}
else {
Navigation[3] = CPoint(ball.position.x + 10, ball.position.y + 20);
}
}
else {
if (home3.position.y < ball.position.y) {
Navigation[1] = CPoint(ball.position.x + 10, ball.position.y - 15);
}
else {
Navigation[1] = CPoint(ball.position.x - 15, ball.position.y - 10);
}
}
Navigation[4] = CPoint(ball.position.x, ball.position.y - 20);
Navigation[5] = CPoint(ball.position.x + 10, ball.position.y - 20);
Navigation[6] = CPoint(ball.position.x + 20, ball.position.y - 10);
Navigation[7] = CPoint(ball.position.x + 20, ball.position.y + 10);
Navigation[8] = CPoint(ball.position.x + 20, ball.position.y + 15);
Navigation[9] = CPoint(ball.position.x + 40, ball.position.y - 20);
Navigation[10] = CPoint(ball.position.x + 30, ball.position.y - 10);
//// 机器人在球的右下
// if (robot->position.x >= ball.position.x && robot->position.y <= ball.position.y) {
// Direction(which, ball.position);
// }
//// 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) {
// Direction(which, CPoint(ball.position.x + 20, ball.position.y + 20));
// }
// // 距离较近
// else {
// Direction(which, CPoint(ball.position.x + 10, ball.position.y));
// }
// }
//// 机器人在球左下
// else if (robot->position.x <= ball.position.x && robot->position.y >= ball.position.y) {
// Direction(which, CPoint(ball.position.x - 20, ball.position.y + 20));
// }
//// 机器人在球左上
// else {
// Direction(which, CPoint(ball.position.x - 20, ball.position.y - 20));
// }
}
// 上场
else {
// 机器人在球右上
if (robot->position.x >= ball.position.x && robot->position.y <= ball.position.y) {
Direction(which, ball.position);
if (home1.position.x > ball.position.x) {
if (home1.position.y < ball.position.y) {
Navigation[1] = ball.position;
}
else {
Navigation[1] = CPoint(ball.position.x + 10, ball.position.y - 10);
}
}
// 机器人在球右下
else if (robot->position.x >= ball.position.x && robot->position.y > ball.position.y) {
Direction(which, CPoint(ball.position.x + 20, ball.position.y));
}
// 机器人在球左上
else if (robot->position.x < ball.position.x && robot->position.y >= ball.position.y) {
Direction(which, CPoint(ball.position.x - 20, ball.position.y));
}
// 机器人在左下
else {
if (home1.position.y < ball.position.y) {
Navigation[1] = CPoint(ball.position.x, ball.position.y - 10);
}
else {
Navigation[1] = CPoint(ball.position.x - 10, ball.position.y - 10);
}
}
if (home2.position.x > ball.position.x) {
if (home2.position.y < ball.position.y) {
Navigation[2] = ball.position;
}
else {
Navigation[2] = CPoint(ball.position.x + 10, ball.position.y);
}
}
else {
if (home2.position.y < ball.position.y) {
Navigation[2] = CPoint(ball.position.x - 5, ball.position.y - 10);
}
else {
Navigation[2] = CPoint(ball.position.x - 10, ball.position.y - 10);
}
}
if (home3.position.x > ball.position.x) {
if (home3.position.y < ball.position.y) {
Navigation[3] = ball.position;
}
else {
Navigation[3] = CPoint(ball.position.x + 10, ball.position.y - 15);
}
}
else {
if (home2.position.y < ball.position.y) {
Navigation[3] = CPoint(ball.position.x - 5, ball.position.y - 10);
}
else {
Navigation[3] = CPoint(ball.position.x - 10, ball.position.y - 10);
}
}
Navigation[4] = CPoint(ball.position.x - 10, ball.position.y - 10);
Navigation[5] = CPoint(ball.position.x, ball.position.y - 10);
Navigation[6] = CPoint(ball.position.x + 10, ball.position.y - 10);
Navigation[7] = CPoint(ball.position.x + 10, ball.position.y);
Navigation[8] = CPoint(ball.position.x + 20, ball.position.y + 10);
Navigation[9] = CPoint(ball.position.x + 30, ball.position.y + 20);
Navigation[10] = CPoint(ball.position.x + 30, ball.position.y + 25);
// 机器人在球右上
// if (robot->position.x >= ball.position.x && robot->position.y <= ball.position.y) {
// Direction(which, ball.position);
//}
//// 机器人在球右下
// else if (robot->position.x >= ball.position.x && robot->position.y > ball.position.y) {
// Direction(which, CPoint(ball.position.x + 20, ball.position.y));
// }
//// 机器人在球左上
// else if (robot->position.x < ball.position.x && robot->position.y >= ball.position.y) {
// Direction(which, CPoint(ball.position.x - 20, ball.position.y));
// }
//// 机器人在左下
// else {
// }
}
}
// 防守区域（1右上+正上，2左上+正左，3左下+正下，4右下+正右）
// 防守区域(在己方罚球区外)
else if (ball.position.x > 590 && ball.position.x < 965) {
// 己方罚球区内
if (ball.position.x >= 873 && ball.position.y <= 607 && ball.position.y >= 217) {
Position(which, CPoint(873, ball.position.y));
}
CPoint goal;
double l;
// 己方上半场
else if (ball.position.y < 217 && ball.position.y >= 0) {
// 机器人在球1区
if (robot->position.y < ball.position.y && robot->position.x >= ball.position.x) {
// 绕道球上
PositionSE(which, CPoint(ball.position.x + 10, ball.position.y));
}
// 机器人在球2区
else if (robot->position.y <= ball.position.y && robot->position.x < ball.position.x) {
// 绕道球下
PositionSE(which, CPoint(ball.position.x - 10, ball.position.y));
}
// 机器人在3区
else if (robot->position.y > ball.position.y && robot->position.x <= ball.position.x) {
PositionSE(which, ball.position);
}
// 机器人在球4区
else if (robot->position.y >= ball.position.y && robot->position.x > ball.position.x) {
PositionSE(which, ball.position);
}
goal.x = ball.position.x;
goal.y = 95;
l = Distance(ball.position, goal);
if (ball.position.y < 217 && ball.position.y >= 95) {
Navigation[1].x = ball.position.x;
Navigation[1].y = 95 + (int)l + 5;
Navigation[2].x = ball.position.x - (int)sin(15.0 * PI / 180.0) * ((int)l + 5);
Navigation[2].y = 95 + (int)cos(15.0 * PI / 180.0) * ((int)l + 5);
Navigation[3].x = ball.position.x + (int)sin(15.0 * PI / 180.0) * ((int)l + 5);
Navigation[3].y = 95 + (int)cos(15.0 * PI / 180.0) * ((int)l + 5);
Navigation[4].x = ball.position.x;
Navigation[4].y = 95 + (int)l + 15;
Navigation[5].x = ball.position.x - (int)sin(25.0 * PI / 180.0) * ((int)l + 15);
Navigation[5].y = 95 + (int)cos(25.0 * PI / 180.0) * ((int)l + 15);
Navigation[6].x = ball.position.x + (int)sin(25.0 * PI / 180.0) * ((int)l + 15);
Navigation[6].y = 95 + (int)cos(25.0 * PI / 180.0) * ((int)l + 15);
Navigation[7].x = ball.position.x - (int)sin(45.0 * PI / 180.0) * ((int)l + 15);
Navigation[7].y = 95 + (int)cos(45.0 * PI / 180.0) * ((int)l + 15);
Navigation[8].x = ball.position.x + (int)sin(45.0 * PI / 180.0) * ((int)l + 15);
Navigation[8].y = 95 + (int)cos(45.0 * PI / 180.0) * ((int)l + 15);
Navigation[9].x = ball.position.x - (int)sin(30.0 * PI / 180.0) * ((int)l + 25);
Navigation[9].y = 95 + (int)cos(30.0 * PI / 180.0) * ((int)l + 25);
Navigation[10].x = ball.position.x + (int)sin(30.0 * PI / 180.0) * ((int)l + 25);
Navigation[10].y = 95 + (int)cos(30.0 * PI / 180.0) * ((int)l + 25);
}
// 己方中场
else if (ball.position.y > 217 && ball.position.y <= 607) {
// 球在中场上侧，要把球往上压
if (ball.position.y < 409) {
// 机器人在球1区
if (robot->position.y < ball.position.y && robot->position.x >= ball.position.x) {
// 绕道球上
PositionSE(which, CPoint(ball.position.x + 10, ball.position.y));
}
// 机器人在球2区
else if (robot->position.y <= ball.position.y && robot->position.x < ball.position.x) {
// 绕道球下
PositionSE(which, CPoint(ball.position.x - 10, ball.position.y));
}
// 机器人在3区
else if (robot->position.y > ball.position.y && robot->position.x <= ball.position.x) {
PositionSE(which, ball.position);
}
// 机器人在球4区
else if (robot->position.y >= ball.position.y && robot->position.x > ball.position.x) {
PositionSE(which, ball.position);
}
Navigation[1].x = ball.position.x;
Navigation[1].y = 95 + (int)l + 5;
Navigation[2].x = ball.position.x - (int)sin(15.0 * PI / 180.0) * ((int)l + 5);
Navigation[2].y = 95 + (int)cos(15.0 * PI / 180.0) * ((int)l + 5);
Navigation[3].x = ball.position.x + (int)sin(15.0 * PI / 180.0) * ((int)l + 5);
Navigation[3].y = 95 + (int)cos(15.0 * PI / 180.0) * ((int)l + 5);
Navigation[4].x = ball.position.x;
Navigation[4].y = 95 + (int)l + 15;
Navigation[5].x = ball.position.x - (int)sin(25.0 * PI / 180.0) * ((int)l + 15);
Navigation[5].y = 95 + (int)cos(25.0 * PI / 180.0) * ((int)l + 15);
Navigation[6].x = ball.position.x + (int)sin(25.0 * PI / 180.0) * ((int)l + 15);
Navigation[6].y = 95 + (int)cos(25.0 * PI / 180.0) * ((int)l + 15);
Navigation[7].x = ball.position.x - (int)sin(45.0 * PI / 180.0) * ((int)l + 15);
Navigation[7].y = 95 + (int)cos(45.0 * PI / 180.0) * ((int)l + 15);
Navigation[8].x = ball.position.x + (int)sin(45.0 * PI / 180.0) * ((int)l + 15);
Navigation[8].y = 95 + (int)cos(45.0 * PI / 180.0) * ((int)l + 15);
Navigation[9].x = ball.position.x - (int)sin(30.0 * PI / 180.0) * ((int)l + 25);
Navigation[9].y = 95 + (int)cos(30.0 * PI / 180.0) * ((int)l + 25);
Navigation[10].x = ball.position.x + (int)sin(30.0 * PI / 180.0) * ((int)l + 25);
Navigation[10].y = 95 + (int)cos(30.0 * PI / 180.0) * ((int)l + 25);
}
// 球在中场下侧，要把球往下压
else {
// 机器人在球1区
if (robot->position.y < ball.position.y && robot->position.x >= ball.position.x) {
// 绕道球上
PositionSE(which, ball.position);
}
// 机器人在球2区
else if (robot->position.y <= ball.position.y && robot->position.x < ball.position.x) {
// 绕道球下
PositionSE(which, ball.position);
}
// 机器人在3区
else if (robot->position.y > ball.position.y && robot->position.x <= ball.position.x) {
PositionSE(which, CPoint(ball.position.x - 10, ball.position.y));
}
// 机器人在球4区
else if (robot->position.y >= ball.position.y && robot->position.x > ball.position.x) {
PositionSE(which, CPoint(ball.position.x + 10, ball.position.y));
}
goal.x = ball.position.x;
goal.y = 723;
l = Distance(ball.position, goal);
Navigation[1].x = ball.position.x;
Navigation[1].y = 723 - (int)l - 5;
Navigation[2].x = ball.position.x - (int)sin(15.0 * PI / 180.0) * ((int)l + 5);
Navigation[2].y = 723 - (int)cos(15.0 * PI / 180.0) * ((int)l + 5);
Navigation[3].x = ball.position.x + (int)sin(15.0 * PI / 180.0) * ((int)l + 5);
Navigation[3].y = 723 - (int)cos(15.0 * PI / 180.0) * ((int)l + 5);
Navigation[4].x = ball.position.x;
Navigation[4].y = 723 - (int)l - 15;
Navigation[5].x = ball.position.x - (int)sin(25.0 * PI / 180.0) * ((int)l + 15);
Navigation[5].y = 723 - (int)cos(25.0 * PI / 180.0) * ((int)l + 15);
Navigation[6].x = ball.position.x + (int)sin(25.0 * PI / 180.0) * ((int)l + 15);
Navigation[6].y = 723 - (int)cos(25.0 * PI / 180.0) * ((int)l + 15);
Navigation[7].x = ball.position.x - (int)sin(45.0 * PI / 180.0) * ((int)l + 15);
Navigation[7].y = 723 - (int)cos(45.0 * PI / 180.0) * ((int)l + 15);
Navigation[8].x = ball.position.x + (int)sin(45.0 * PI / 180.0) * ((int)l + 15);
Navigation[8].y = 723 - (int)cos(45.0 * PI / 180.0) * ((int)l + 15);
Navigation[9].x = ball.position.x - (int)sin(30.0 * PI / 180.0) * ((int)l + 25);
Navigation[9].y = 723 - (int)cos(30.0 * PI / 180.0) * ((int)l + 25);
Navigation[10].x = ball.position.x + (int)sin(30.0 * PI / 180.0) * ((int)l + 25);
Navigation[10].y = 723 - (int)cos(30.0 * PI / 180.0) * ((int)l + 25);
}
}
// 己方下半场
else if (ball.position.y > 607) {
// 机器人在球1区
if (robot->position.y < ball.position.y && robot->position.x >= ball.position.x) {
// 绕道球上
PositionSE(which, ball.position);
}
// 机器人在球2区
else if (robot->position.y <= ball.position.y && robot->position.x < ball.position.x) {
// 绕道球下
PositionSE(which, ball.position);
}
// 机器人在3区
else if (robot->position.y > ball.position.y && robot->position.x <= ball.position.x) {
PositionSE(which, CPoint(ball.position.x - 10, ball.position.y));
}
// 机器人在球4区
else if (robot->position.y >= ball.position.y && robot->position.x > ball.position.x) {
PositionSE(which, CPoint(ball.position.x + 10, ball.position.y));
}
goal.x = ball.position.x;
goal.y = 723;
l = Distance(ball.position, goal);
Navigation[1].x = ball.position.x;
Navigation[1].y = 723 - (int)l - 5;
Navigation[2].x = ball.position.x - (int)sin(15.0 * PI / 180.0) * ((int)l + 5);
Navigation[2].y = 723 - (int)cos(15.0 * PI / 180.0) * ((int)l + 5);
Navigation[3].x = ball.position.x + (int)sin(15.0 * PI / 180.0) * ((int)l + 5);
Navigation[3].y = 723 - (int)cos(15.0 * PI / 180.0) * ((int)l + 5);
Navigation[4].x = ball.position.x;
Navigation[4].y = 723 - (int)l - 15;
Navigation[5].x = ball.position.x - (int)sin(25.0 * PI / 180.0) * ((int)l + 15);
Navigation[5].y = 723 - (int)cos(25.0 * PI / 180.0) * ((int)l + 15);
Navigation[6].x = ball.position.x + (int)sin(25.0 * PI / 180.0) * ((int)l + 15);
Navigation[6].y = 723 - (int)cos(25.0 * PI / 180.0) * ((int)l + 15);
Navigation[7].x = ball.position.x - (int)sin(45.0 * PI / 180.0) * ((int)l + 15);
Navigation[7].y = 723 - (int)cos(45.0 * PI / 180.0) * ((int)l + 15);
Navigation[8].x = ball.position.x + (int)sin(45.0 * PI / 180.0) * ((int)l + 15);
Navigation[8].y = 723 - (int)cos(45.0 * PI / 180.0) * ((int)l + 15);
Navigation[9].x = ball.position.x - (int)sin(30.0 * PI / 180.0) * ((int)l + 25);
Navigation[9].y = 723 - (int)cos(30.0 * PI / 180.0) * ((int)l + 25);
Navigation[10].x = ball.position.x + (int)sin(30.0 * PI / 180.0) * ((int)l + 25);
Navigation[10].y = 723 - (int)cos(30.0 * PI / 180.0) * ((int)l + 25);
}
}
}
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;
// }
DirectionSE(which, Navigation[which]);
}
void CStrategySystem::Possession() {
Canshot();
Navigate();
/*for(int i=1;i<11;i++)
{
Navigation[i]=ball.position;
}*/
for (int i = 1; i <= 10; i++) {
control(i);
}
}
// 守门
void CStrategySystem::Goalie() {
static bool flag;
static double dy;
int gx = ball.position.x < 950 ? 950 : 965;
// if (ball.position.x <= 873 && ball.position.y >= 217 && ball.position.y <= 607 && hgoalie.position.y > ball.position.y) {
// Position(HGOALIE, ball.position);
@@ -604,7 +817,7 @@ void CStrategySystem::Goalie() {
// else {
// 球在我方半场且在预测区域远离球门
if (ball.position.x > 515 && ball.position.x < 900 || ball.position.x > 900 && ball.position.x < ball.oldPosition.x) {
if (ball.position.x > 515 && ball.position.x < 873 || ball.position.x > 873 && ball.position.x < ball.oldPosition.x) {
flag = true;
if (ball.position.y < 313)
Direction(HGOALIE, CPoint(gx, 313));
@@ -615,15 +828,6 @@ void CStrategySystem::Goalie() {
}
// 球在中预测区域靠近球门
else if (ball.position.x > 515 && ball.position.y > 217 && ball.position.y < 607) {
static double dy;
if (flag) {
dy = (gx - ball.position.x) * ABS(ball.position.y - ball.oldPosition.y) * 1.0 / (ball.position.x - ball.oldPosition.x);
flag = false;
}
if (ball.position.y > ball.oldPosition.y)
Direction(HGOALIE, CPoint(gx, ball.position.y + dy));
else
Direction(HGOALIE, CPoint(gx, ball.position.y - dy));
if (ball.position.x > 900) {
double dy = (hgoalie.position.x - 873) * ABS(ball.position.y - hgoalie.position.y) * 1.0 / (hgoalie.position.x - ball.position.x);
if (ball.position.y > hgoalie.position.y)
@@ -631,6 +835,16 @@ void CStrategySystem::Goalie() {
else
Direction(HGOALIE, CPoint(873, hgoalie.position.y - dy));
}
else {
if (flag) {
dy = (gx - ball.position.x) * ABS(ball.position.y - ball.oldPosition.y) * 1.0 / (ball.position.x - ball.oldPosition.x);
flag = false;
}
if (ball.position.y > ball.oldPosition.y)
Direction(HGOALIE, CPoint(gx, ball.position.y + dy));
else
Direction(HGOALIE, CPoint(gx, ball.position.y - dy));
}
}
// 球在上预测区域靠近球门
else if (ball.position.x > 515 && ball.position.y < 217 && ball.position.y >= ball.oldPosition.y) {
@@ -1176,8 +1390,7 @@ void CStrategySystem::Action() {
// flag = true;
// break;
// }
// Goalie();
Shot(1, 1);
Goalie();
}
void CStrategySystem::Angle(int which, int desired_angle) {
@@ -1623,6 +1836,8 @@ void CStrategySystem::ReceiveData(Robot1 bal, Robot2 ho1, Robot2 ho2, Robot2 ho3
}
CStrategySystem::CStrategySystem(int id) {
for (CPoint &p : Navigation)
p = ball.position;
flag = true;
m_OurTeam = id;
boundRect.SetRect(65, 95, 965, 723);