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Freeball & Goalie

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Xi Xu committed 2023-11-16 23:25:38 +08:00
1 parent 2804529e54
commit 529455c4a3
2 files changed
+160 -79
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StrategySystem.cpp
+147 -69
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@@ -114,36 +114,83 @@ void CStrategySystem::Penalty() {
// 争球
void CStrategySystem::Freeball() {
int d = 21;
static bool b; // back che
if (Status() == 2) { // 左上
if (Distance(home3.position, ball.position) > d)
if (Distance(home3.position, ball.position) > d && flag) {
Direction(HOME3, ball.position);
else
ccd(HOME3, Distance(home3.position, ball.position), atwo(home3.pos.x, home3.pos.y, ball.position.x, ball.position.y, ball.position.x, ball.position.y, 28, 505));
// spin(HOME3, false);
b = home3.angle > 0;
}
else {
flag = false;
double r = Distance(home3.position, ball.position) / (2 * (sin(atwo(home3.pos.x, home3.pos.y, ball.position.x, ball.position.y, ball.position.x, ball.position.y, 28, 505)))); // 求曲线行驶时轨迹的半径
int lw = (r - 5) / (r + 5) * 127;
if (!b)
Velocity(3, -127, -lw);
else
Velocity(3, lw, 127);
}
}
/* else if (Status() == 3) { // 左下
if (Distance(home1.position, ball.position) > d)
else if (Status() == 3) { // 左下
if (Distance(home1.position, ball.position) > d && flag) {
Direction(HOME1, ball.position);
else
spin(HOME1, true);
b = home1.angle > 0;
}
else {
flag = false;
double r = Distance(home1.position, ball.position) / (2 * (sin(atwo(home1.pos.x, home1.pos.y, ball.position.x, ball.position.y, ball.position.x, ball.position.y, 28, 313))));
int rw = (r - 5) / (r + 5) * 127;
if (!b)
Velocity(1, -rw, -127);
else
Velocity(1, 127, rw);
}
}
else if (Status() == 4) { // 右上
if (Distance(home10.position, ball.position) > d)
if (Distance(home10.position, ball.position) > d && flag) {
Direction(HOME10, ball.position);
else
spin(HOME10, true);
}*/
b = home10.angle > 0;
}
else {
flag = false;
double r = Distance(home10.position, ball.position) / (2 * (sin(atwo(home10.pos.x, home10.pos.y, ball.position.x, ball.position.y, ball.position.x, ball.position.y, 515, 95))));
int rw = (r - 5) / (r + 5) * 127;
if (!b)
Velocity(10, -rw, -127);
else
Velocity(10, 127, rw);
}
}
else if (Status() == 5) { // 右下
// if (Distance(home7.position, ball.position) > d)
// Direction(HOME7, ball.position);
// else
// spin(HOME7, false);
if (Distance(home7.position, ball.position) > d && flag) {
Direction(HOME7, ball.position);
b = home7.angle > 0;
}
else {
flag = false;
double r = Distance(home7.position, ball.position) / (2 * (sin(atwo(home7.pos.x, home7.pos.y, ball.position.x, ball.position.y, ball.position.x, ball.position.y, 515, 723))));
}
}
}
double CStrategySystem::atwo(int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4) // 两直线间夹角
{
double j = 0;
double k1 = (y1 - y2) / (x1 - x2);
double k2 = (y3 - y4) / (x3 - x4);
j = atan(fabs((k2 - k1) / (1 + k1 * k2)));
return j;
}
void CStrategySystem::ccd(int which, double d, double j) // 曲线行驶
{
double r = d / (2 * (sin(j)));
int rw = 127;
int lw = (r - 5) / (r + 5) * rw;
Velocity(which, lw, rw);
}
double CStrategySystem::atwo(int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4) // 两直线间夹角
{
double j = 0;
@@ -283,6 +330,38 @@ 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);
// 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;*/
// 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) {
@@ -489,42 +568,11 @@ void CStrategySystem::control(int which) {
}
}
// 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;
CPoint t0, t1, t2, t3, t4, t5;
t0.x = ball.position.x;
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));
// }
// 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)
}
// 守门
void CStrategySystem::Goalie() {
static bool flag = true;
static bool flag, slosh = true;
int gx = ball.position.x < 950 ? 950 : 965;
int gy;
// TODO: 防点球
// if (CheckBallPosF1() == 1 || isPenalty) {
@@ -547,53 +595,82 @@ void CStrategySystem::Goalie() {
// 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) {
flag = true;
if (ball.position.y < 313)
if (ball.position.y < 313) {
Direction(HGOALIE, CPoint(gx, 313));
else if (ball.position.y > 505)
slosh = false;
}
else if (ball.position.y > 505) {
Direction(HGOALIE, CPoint(gx, 505));
else
Direction(HGOALIE, CPoint(gx, ball.position.y));
slosh = false;
}
else {
gy = ball.position.y; // Direction(HGOALIE, CPoint(gx, ball.position.y));
}
}
// 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) {
double dy = 0;
if (flag)
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));
flag = false;
}
if (ball.position.y > ball.oldPosition.y) {
gy = ball.position.y + dy; // Direction(HGOALIE, CPoint(gx, ball.position.y + dy));
}
else {
gy = ball.position.y - dy; // 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)
if (ball.position.y > hgoalie.position.y) {
Direction(HGOALIE, CPoint(873, hgoalie.position.y + dy));
else
slosh = false;
}
else {
Direction(HGOALIE, CPoint(873, hgoalie.position.y - dy));
slosh = false;
}
}
}
// 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) {
flag = true;
if (hgoalie.position.y > 217) {
Direction(HGOALIE, CPoint(ball.position));
Direction(HGOALIE, ball.position);
slosh = false;
}
else {
gy = 265; // Direction(HGOALIE, CPoint(gx, 265));
}
Direction(HGOALIE, CPoint(gx, 265));
}
// 球在下预测区域靠近球门
else if (ball.position.x > 515 && ball.position.y <= ball.oldPosition.y) {
flag = true;
if (hgoalie.position.y < 607) {
Direction(HGOALIE, CPoint(ball.position));
Direction(HGOALIE, ball.position);
slosh = false;
}
else {
gy = 556; // Direction(HGOALIE, CPoint(gx, 556));
}
Direction(HGOALIE, CPoint(gx, 556));
}
// 球在对方半场
else {
flag = true;
Direction(HGOALIE, CPoint(gx, 409));
gy = 409; // Direction(HGOALIE, CPoint(gx, 409));
}
//}
if (slosh) {
if (hgoalie.position.y < gy) {
Direction(HGOALIE, CPoint(gx, gy - 20));
}
else if (hgoalie.position.y > gy) {
Direction(HGOALIE, CPoint(gx, gy + 20));
}
else {
Direction(HGOALIE, CPoint(gx, gy));
}
}
}
double CStrategySystem::Distance(CPoint point1, CPoint point2) {
@@ -1561,6 +1638,7 @@ void CStrategySystem::ReceiveData(Robot1 bal, Robot2 ho1, Robot2 ho2, Robot2 ho3
}
CStrategySystem::CStrategySystem(int id) {
flag = true;
m_OurTeam = id;
boundRect.SetRect(65, 95, 965, 723);
if (id)