Update StrategySystem.cpp
This commit is contained in:
孙培伶 committed
1 parent
f9664432e4
commit
3ce7d65868
1 file changed
+53
-126
+53
-126
@@ -571,7 +571,7 @@ void CStrategySystem::Possession() {
|
||||
fp_sort(rp, 5, 8);
|
||||
Position(rp[6].id, pos[7]);
|
||||
Position(rp[7].id, pos[8]);
|
||||
Position(rp[9].id, pos[9]);
|
||||
Position(rp[8].id, pos[9]);
|
||||
}
|
||||
else if (ball.position.x >= 157 && ball.position.x <= 290 && ball.position.y > 409) {
|
||||
// 内圈
|
||||
@@ -597,7 +597,7 @@ void CStrategySystem::Possession() {
|
||||
fp_sort(rp, 5, 8);
|
||||
Position(rp[6].id, pos[7]);
|
||||
Position(rp[7].id, pos[8]);
|
||||
Position(rp[9].id, pos[9]);
|
||||
Position(rp[8].id, pos[9]);
|
||||
}
|
||||
else if (ball.position.x < 157 && ball.position.y >= 217 && ball.position.y <= 409) // 球在上半
|
||||
{
|
||||
@@ -624,7 +624,7 @@ void CStrategySystem::Possession() {
|
||||
Position(rp[0].id, pos[6]);
|
||||
Position(rp[1].id, pos[7]);
|
||||
Position(rp[7].id, pos[8]);
|
||||
Position(rp[9].id, pos[9]);
|
||||
Position(rp[8].id, pos[9]);
|
||||
}
|
||||
else if (ball.position.x < 157 && ball.position.y >= 217 && ball.position.y > 409) // 球在下半
|
||||
{
|
||||
@@ -651,7 +651,7 @@ void CStrategySystem::Possession() {
|
||||
Position(rp[0].id, pos[6]);
|
||||
Position(rp[1].id, pos[7]);
|
||||
Position(rp[7].id, pos[8]);
|
||||
Position(rp[9].id, pos[9]);
|
||||
Position(rp[8].id, pos[9]);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1130,132 +1130,59 @@ void CStrategySystem::Possession() {
|
||||
// // 否则就保持一定速度在点位待机
|
||||
}
|
||||
else if (fm_id() == 9) {
|
||||
Position(cp_id(), ball.position);
|
||||
|
||||
pos[1].y = ball.position.y;
|
||||
pos[1].x = 900;
|
||||
pos[2].x = pos[1].x;
|
||||
if (ball.position.y > 409) // 球在下面
|
||||
{
|
||||
pos[2].y = pos[1].y - 40;
|
||||
Direction(cp_id(), ball.position);
|
||||
if(ball.position.y > 409){
|
||||
pos[1].y = pos[0].y-35; pos[1].x = pos[0].x-10;
|
||||
pos[2].y = pos[0].y-25; pos[2].x = pos[0].x+30;
|
||||
pos[3].y = pos[0].y; pos[3].x = pos[0].x+30;
|
||||
pos[4].y = pos[0].y-65; pos[4].x = pos[0].x;
|
||||
pos[5].y = pos[0].y-75; pos[5].x = pos[0].x+60;
|
||||
pos[6].y = pos[0].y-60; pos[6].x = pos[0].x+70;
|
||||
pos[7].y = pos[0].y+20; pos[7].x = pos[0].x+70;
|
||||
pos[8].y = pos[0].y+60; pos[8].x = pos[0].x+70;
|
||||
pos[9].y = pos[0].y-90;pos[9].x = pos[0].x+70;
|
||||
}
|
||||
else if (ball.position.y <= 409) // 球在上面
|
||||
{
|
||||
pos[2].y = pos[1].y + 40;
|
||||
else if(ball.position.y <= 409){
|
||||
pos[1].y = pos[0].y; pos[1].x = pos[0].x+30;
|
||||
pos[2].y = pos[0].y+35; pos[2].x = pos[0].x-40;
|
||||
pos[3].y = pos[0].y+25; pos[3].x = pos[0].x;
|
||||
pos[4].y = pos[0].y+65; pos[4].x = pos[0].x+70;
|
||||
pos[5].y = pos[0].y+75; pos[5].x = pos[0].x+60;
|
||||
pos[6].y = pos[0].y+65; pos[6].x = pos[0].x+70;
|
||||
pos[7].y = pos[0].y+20; pos[7].x = pos[0].x+70;
|
||||
pos[8].y = pos[0].y-20; pos[8].x = pos[0].x+70;
|
||||
pos[9].y = pos[0].y+90;pos[9].x = pos[0].x+70;
|
||||
}
|
||||
if (ball.position.x < 873) // 球在禁区外
|
||||
{
|
||||
pos[3].x = ball.position.x;
|
||||
pos[3].y = ball.position.y + 55; // 球下面
|
||||
pos[4].x = ball.position.x;
|
||||
pos[4].y = ball.position.y - 55; // 球上面
|
||||
if (ball.position.x < 850) {
|
||||
pos[5].x = ball.position.x + 20;
|
||||
pos[5].y = ball.position.y; // 正对球
|
||||
}
|
||||
else {
|
||||
pos[5].x = 870;
|
||||
pos[5].y = ball.position.y; // 正对球
|
||||
}
|
||||
pos[6].x = 870;
|
||||
pos[6].y = ball.position.y + 50;
|
||||
pos[7].x = 870;
|
||||
pos[7].y = ball.position.y - 50;
|
||||
pos[8].x = 870;
|
||||
pos[8].y = ball.position.y + 65;
|
||||
pos[9].x = 870;
|
||||
pos[9].y = ball.position.y - 65;
|
||||
if(ball.position.x>=800){ //球临近禁区
|
||||
fp_sort(rp);
|
||||
fp_sort(rp,0,3);
|
||||
PositionSE(rp[0].id,pos[1]);
|
||||
PositionSE(rp[1].id,pos[2]);
|
||||
PositionSE(rp[2].id,pos[3]);
|
||||
fp_sort(rp,3,8);
|
||||
PositionSE(rp[3].id,pos[4]);
|
||||
PositionSE(rp[4].id,pos[5]);
|
||||
PositionSE(rp[5].id,pos[6]);
|
||||
PositionSE(rp[6].id,pos[7]);
|
||||
PositionSE(rp[7].id,pos[8]);
|
||||
fp_sort(rp,8,9);
|
||||
PositionSE(rp[8].id,pos[9]);
|
||||
}
|
||||
else if (ball.position.x > 873) // 球在禁区里,球员不进禁区
|
||||
{
|
||||
pos[3].x = 870;
|
||||
pos[3].y = ball.position.y + 50; // 球下面
|
||||
pos[4].x = 870;
|
||||
pos[4].y = ball.position.y - 50; // 球上面
|
||||
pos[5].x = pos[1].x - 80;
|
||||
pos[5].y = ball.position.y; // 正对球
|
||||
if (ball.position.y > 409) // 球在下面
|
||||
{
|
||||
pos[6].x = 900;
|
||||
pos[6].y = 610;
|
||||
pos[7].x = pos[5].x;
|
||||
pos[7].y = pos[5].y - 70;
|
||||
pos[8].x = pos[5].x;
|
||||
pos[8].y = pos[5].y + 70;
|
||||
pos[9].x = 870;
|
||||
pos[9].y = ball.position.y - 100;
|
||||
}
|
||||
if (ball.position.y <= 409) // 球在下面
|
||||
{
|
||||
pos[6].x = 900;
|
||||
pos[6].y = 210;
|
||||
pos[7].x = pos[5].x;
|
||||
pos[7].y = pos[5].y - 70;
|
||||
pos[8].x = pos[5].x;
|
||||
pos[8].y = pos[5].y + 70;
|
||||
pos[9].x = 870;
|
||||
pos[9].y = ball.position.y + 100;
|
||||
}
|
||||
|
||||
struct infor a[10];
|
||||
Robot2 *robot;
|
||||
for (int j = 1; j <= 9; j++) {
|
||||
for (int i = 1; i <= 9; i++) {
|
||||
a[i].num = i;
|
||||
a[i].dis = -1;
|
||||
switch (i) {
|
||||
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;
|
||||
}
|
||||
if (a[i].dis == -1)
|
||||
a[i].dis = Distance(pos[j], robot->position); // 机器人到点位的距离
|
||||
}
|
||||
int min = a[1].dis;
|
||||
int p = 1; // 最近的球员编号
|
||||
for (int l = 2; l <= 9; l++) // 选出最近的机器人
|
||||
{
|
||||
if (min <= a[l].dis) {
|
||||
a[l].dis = -1;
|
||||
}
|
||||
else {
|
||||
min = a[l].dis;
|
||||
a[p].dis = -1;
|
||||
p = l;
|
||||
}
|
||||
}
|
||||
if (a[p].num != cp_id()) // 不是中心球员
|
||||
PositionSE(a[p].num, pos[j]); // 移动到最近的点位
|
||||
}
|
||||
else{
|
||||
fp_sort(rp);
|
||||
fp_sort(rp,0,3);
|
||||
Direction(rp[0].id,pos[1]);
|
||||
Direction(rp[1].id,pos[2]);
|
||||
Direction(rp[2].id,pos[3]);
|
||||
fp_sort(rp,3,8);
|
||||
Direction(rp[3].id,pos[4]);
|
||||
Direction(rp[4].id,pos[5]);
|
||||
Direction(rp[5].id,pos[6]);
|
||||
Direction(rp[6].id,pos[7]);
|
||||
Direction(rp[7].id,pos[8]);
|
||||
fp_sort(rp,8,9);
|
||||
Direction(rp[8].id,pos[9]);
|
||||
}
|
||||
}
|
||||
}
|
||||
else { // TODO 无中央球员
|
||||
if (fm_id() == 4 || fm_id() == 6) {
|
||||
|
||||
Reference in new issue
Block a user