xixu-me/atri-2024
1
0 Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Update StrategySystem.cpp

Browse Source
This commit is contained in:
Xi Xu committed 2023-11-19 16:58:15 +08:00
1 parent ec8801b795
commit 6b14c8713b
1 file changed
+132 -122
Download Patch File Download Diff File Expand all files Collapse all files
StrategySystem.cpp
+132 -122
View File
@@ -401,34 +401,34 @@ bool CStrategySystem::Canshot() // 射？
D1.y = 265;
D2.x = 170;
D2.y = 409;
if (Distance(ball.position, home9.position) <= 116 && ball.position.y >= 409 && ball.position.y <= 481) //9可射
if (Distance(ball.position, home9.position) <= 116 && ball.position.y >= 409 && ball.position.y <= 481) // 9可射
{
Shot(HOME9, 0);
Direction(HOME10, D1);
}
else if (Distance(ball.position, home10.position) <= 168 && ball.position.y < 409 && ball.position.y >= 265) //10可射
else if (Distance(ball.position, home10.position) <= 168 && ball.position.y < 409 && ball.position.y >= 265) // 10可射
{
Direction(HOME9, D2);
Shot(HOME10, 0);
}
else {//9，10到预定位置
else { // 9，10到预定位置
Direction(HOME10, D1);
Direction(HOME9, D2);
}
return 1;
}
else if (ball.position.y >= 337) // 敌方框下半场
{
{
D1.x = 170;
D1.y = 556;
D2.x = 170;
D2.y = 409;
if (Distance(ball.position, home9.position) <= 116 && ball.position.y <= 409 && ball.position.y >= 337) //9可射
if (Distance(ball.position, home9.position) <= 116 && ball.position.y <= 409 && ball.position.y >= 337) // 9可射
{
Shot(HOME9, 1);
Direction(HOME10, D1);
}
else if (Distance(ball.position, home10.position) <= 164 && ball.position.y > 409 && ball.position.y <= 556) //10可射
else if (Distance(ball.position, home10.position) <= 164 && ball.position.y > 409 && ball.position.y <= 556) // 10可射
{
Direction(HOME9, D2);
Shot(HOME10, 1);
@@ -517,8 +517,8 @@ void CStrategySystem::Shot(int which, bool de, CPoint t) // 把球向t点射,de
Direction(which, t3);
}
else if (de == 0) {
t3.x = t1.x - cos(O) * 34;
t3.y = t1.y + sin(O) * 34;
t3.x = t1.x - cos(O) * 34;
t3.y = t1.y + sin(O) * 34;
Direction(which, t3);
}
}
@@ -560,7 +560,6 @@ void CStrategySystem::shot1(int which, double o, CPoint t) { // 直射
if((t1.x>=65&&1.x<=103&&t1.y>=247&&t1.y<=577)||(t2.x+1==))
}*/
void CStrategySystem::Navigate() // 给人要去的位置坐标导航（预判）
{
/*double d[11];
@@ -975,7 +974,7 @@ void CStrategySystem::control(int which) {
// }
DirectionSE(which, Navigation[which]);
}
int CStrategySystem::search1()// 查找在大区里的机器人
int CStrategySystem::search1() // 查找在大区里的机器人
{
int sum = 0;
if ((home1.position.x >= 105 && home1.position.x <= 157 && home1.position.y >= 247 && home1.position.y <= 577) || (home1.position.x >= 65 && home1.position.x <= 157 && home1.position.y >= 217 && home1.position.y <= 247) || (home1.position.x >= 65 && home1.position.x <= 157 && home1.position.y >= 577 && home1.position.y <= 607))
@@ -1003,7 +1002,7 @@ int CStrategySystem::search1()// 查找在大区里的机器人
int CStrategySystem::search2() // 查找在小区里的机器人
{
int sum;
if(home1.position.x>=65&&home1.position.x<105&&home1.position.y>=247&&home1.position.y<=577)
if (home1.position.x >= 65 && home1.position.x < 105 && home1.position.y >= 247 && home1.position.y <= 577)
sum++;
if (home2.position.x >= 65 && home2.position.x < 105 && home2.position.y >= 247 && home2.position.y <= 577)
sum++;
@@ -1025,8 +1024,7 @@ int CStrategySystem::search2() // 查找在小区里的机器人
sum++;
return sum;
}
void CStrategySystem::Possession()
{
void CStrategySystem::Possession() {
Navigate();
/*for(int i=1;i<11;i++)
{
@@ -1045,14 +1043,14 @@ void CStrategySystem::Possession()
// }
// bool a, b;
if (ball.position.y>=337&& ball.position.x < 290) // 球在敌方下半
if (ball.position.y >= 337 && ball.position.x < 290) // 球在敌方下半
{
if ((ball.position.y >= 481 && ball.position.y <= 607) || (ball.position.x - ball.oldPosition.x <= 5 && ball.position.y - ball.oldPosition.y <= 5) && search1() < 4) // 7可射
Shot(7, 1);// 7射
Shot(7, 1); // 7射
else
control(7);
if (Distance(ball.position, home2.position) <= 75)// 2可射
if (Distance(ball.position, home2.position) <= 75) // 2可射
{
control(1); // 1
if (search1() < 4)
@@ -1097,128 +1095,140 @@ void CStrategySystem::Possession()
control(8);
if (Distance(ball.position, home3.position) <= 75) // 3可射
{
control(1); // 1
control(2); // 2
if (search1() < 4)
Shot(HOME3, 0); // 3射
else
control(3);
for (int i = 4; i < 7; i++) // 4-6
control(i);
control(HOME7); // 7
if (!Canshot()) // 9，10
{
control(9);
control(10);
}
control(1); // 1
control(2); // 2
if (search1() < 4)
Shot(HOME3, 0); // 3射
else
control(3);
for (int i = 4; i < 7; i++) // 4-6
control(i);
control(HOME7); // 7
if (!Canshot()) // 9，10
{
control(9);
control(10);
}
}
else if (Distance(ball.position, home2.position) <= 75 && ball.position.y >= 313 && ball.position.y <= 337) // 2可射
{
control(1); // 1
if (search1() < 4)
Shot(2, 0); // 2射
else
control(2);
control(HOME3); // 3
for (int i = 4; i < 7; i++) // 4-6
control(i);
control(HOME7); // 7
if (!Canshot()) // 9，10
{
control(9);
control(10);
}
control(1); // 1
if (search1() < 4)
Shot(2, 0); // 2射
else
control(2);
control(HOME3); // 3
for (int i = 4; i < 7; i++) // 4-6
control(i);
control(HOME7); // 7
if (!Canshot()) // 9，10
{
control(9);
control(10);
}
}
else // 其它情况
for (int i = 1; i < 11; i++) // 1-10
control(i);
}
else//其它情况
for (int i = 1; i < 11; i++)//1-10
else // 其它情况
for (int i = 1; i < 11; i++) // 1-10
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);
// }
// TODO: 防点球
// if (CheckBallPosF1() == 1 || isPenalty) {
// isPenalty = true;
// if (ball.position.y < 409) {
// Position(which, CPoint(gx, 217));
// }
// else {
// Position(which, CPoint(gx, 607));
// }
// if (ball.position.x < 900) {
// PositionPro(which, CPoint(ball.position));
// }
// if (ball.oldPosition.x > ball.position.x || ball.position.x >= 965) {
// isPenalty = false;
// }
// }
// 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 < 873 || ball.position.x > 873 && ball.position.x < ball.oldPosition.x) {
flag = true;
if (ball.position.y < 313)
int gy = int(((ball.position.y - ball.oldPosition.y) * 1.0 / (ball.position.x - ball.oldPosition.x) * 1.0) * gx + (ball.oldPosition.y - ((ball.position.y - ball.oldPosition.y) * 1.0 / (ball.position.x - ball.oldPosition.x) * 1.0) * ball.oldPosition.x) + 0.5);
if (Distance(ball.position, hgoalie.position) <= gx - 873 && (ball.position.y <= 505 && ball.position.y >= 313 && ball.position.x < hgoalie.position.x || ball.position.y > 505 && ball.position.y > 313))
Direction(HGOALIE, ball.position);
else {
if (gy < 313)
Direction(HGOALIE, CPoint(gx, 313));
else if (ball.position.y > 505)
else if (gy > 505)
Direction(HGOALIE, CPoint(gx, 505));
else
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) {
if (ball.position.x > 900) {
// double dyy = (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)
// Direction(HGOALIE, CPoint(873, hgoalie.position.y + dyy));
// else
// Direction(HGOALIE, CPoint(873, hgoalie.position.y - dyy));
Direction(HGOALIE, ball.position);
}
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));
Direction(HGOALIE, CPoint(gx, ball.position.y));
}
}
// 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, ball.position);
}
else
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, ball.position);
}
else
Direction(HGOALIE, CPoint(gx, 556));
}
// 球在对方半场
else {
flag = true;
Direction(HGOALIE, CPoint(gx, 409));
Direction(HGOALIE, CPoint(gx, gy));
}
// static double dy;
// static bool flag;
// if (ball.position.x <= 873 && ball.position.y >= 217 && ball.position.y <= 607 && hgoalie.position.y > ball.position.y) {
// Position(HGOALIE, ball.position);
// }
// TODO: 防点球
// if (CheckBallPosF1() == 1 || isPenalty) {
// isPenalty = true;
// if (ball.position.y < 409) {
// Position(which, CPoint(gx, 217));
// }
// else {
// Position(which, CPoint(gx, 607));
// }
// if (ball.position.x < 900) {
// PositionPro(which, CPoint(ball.position));
// }
// if (ball.oldPosition.x > ball.position.x || ball.position.x >= 965) {
// isPenalty = false;
// }
// }
// 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 < 873 || ball.position.x > 873 && ball.position.x < ball.oldPosition.x) {
// flag = true;
// if (ball.position.y < 313)
// Direction(HGOALIE, CPoint(gx, 313));
// else if (ball.position.y > 505)
// Direction(HGOALIE, CPoint(gx, 505));
// else
// 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) {
// if (ball.position.x > 900) {
// // double dyy = (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)
// // Direction(HGOALIE, CPoint(873, hgoalie.position.y + dyy));
// // else
// // Direction(HGOALIE, CPoint(873, hgoalie.position.y - dyy));
// Direction(HGOALIE, ball.position);
// }
// 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));
// Direction(HGOALIE, CPoint(gx, ball.position.y));
// }
// }
// // 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, ball.position);
// }
// else
// 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, ball.position);
// }
// else
// Direction(HGOALIE, CPoint(gx, 556));
// }
// // 球在对方半场
// else {
// flag = true;
// Direction(HGOALIE, CPoint(gx, 409));
// }
// }
}