shot
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孙培伶 committed
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@@ -408,17 +408,17 @@ void CStrategySystem::Possession() {
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else if (fm_id() == 3) {
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if (ball.position.x >= 157 && ball.position.x <= 290 && ball.position.y <= 409) {
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// 内圈
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pos[1] = CPoint(pos[0].x - 20, pos[0].y - 40);
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pos[2] = CPoint(pos[0].x + 20, pos[0].y - 40);
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pos[3] = CPoint(pos[0].x + 40 * cos(30), pos[0].y - 40 * sin(30));
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pos[4] = CPoint(pos[0].x + 40 * cos(30), pos[0].y + 40 * sin(40));
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pos[5] = CPoint(pos[0].x + 20, pos[0].y + 40);
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pos[6] = CPoint(pos[0].x - 20, pos[0].y + 40);
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pos[1] = CPoint(pos[0].x - 25, pos[0].y - 40);
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pos[2] = CPoint(pos[0].x + 25, pos[0].y - 40);
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pos[3] = CPoint(pos[0].x + 50 * cos(30), pos[0].y - 40 * sin(30));
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pos[4] = CPoint(pos[0].x + 50 * cos(30), pos[0].y + 40 * sin(40));
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pos[5] = CPoint(pos[0].x + 25, pos[0].y + 40);
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pos[6] = CPoint(pos[0].x - 25, pos[0].y + 40);
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// 内圈
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pos[7] = CPoint(pos[0].x + 120 * cos(67.5), pos[0].y - 120 * sin(67.5));
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pos[8] = CPoint(pos[0].x + 120 * cos(45), pos[0].y - 120 * sin(45));
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pos[9] = CPoint(pos[0].x + 120 * cos(22.5), pos[0].y - 120 * sin(22.5));
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shot(cp_id(), 0, CPoint(45, 361));
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shot(cp_id(), CPoint(45, 361));
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fp_sort(rp);
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fp_sort(rp, 0, 6);
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Direction(rp[1].id, pos[1]);
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@@ -434,17 +434,17 @@ void CStrategySystem::Possession() {
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}
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else if (ball.position.x >= 157 && ball.position.x <= 290 && ball.position.y > 409) {
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// 内圈
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pos[1] = CPoint(pos[0].x - 20, pos[0].y - 40);
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pos[2] = CPoint(pos[0].x + 20, pos[0].y - 40);
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pos[3] = CPoint(pos[0].x + 40 * cos(30), pos[0].y - 40 * sin(30));
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pos[4] = CPoint(pos[0].x + 40 * cos(30), pos[0].y + 40 * sin(40));
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pos[5] = CPoint(pos[0].x + 20, pos[0].y + 40);
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pos[6] = CPoint(pos[0].x - 20, pos[0].y + 40);
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pos[1] = CPoint(pos[0].x - 25, pos[0].y - 40);
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pos[2] = CPoint(pos[0].x + 25, pos[0].y - 40);
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pos[3] = CPoint(pos[0].x + 50 * cos(30), pos[0].y - 40 * sin(30));
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pos[4] = CPoint(pos[0].x + 50 * cos(30), pos[0].y + 40 * sin(40));
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pos[5] = CPoint(pos[0].x + 25, pos[0].y + 40);
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pos[6] = CPoint(pos[0].x - 25, pos[0].y + 40);
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// 内圈
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pos[7] = CPoint(pos[0].x + 120 * cos(67.5), pos[0].y + 120 * sin(67.5));
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pos[8] = CPoint(pos[0].x + 120 * cos(45), pos[0].y + 120 * sin(45));
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pos[9] = CPoint(pos[0].x + 120 * cos(22.5), pos[0].y + 120 * sin(22.5));
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shot(cp_id(), 0, CPoint(45, 457));
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shot(cp_id(), CPoint(45, 457));
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fp_sort(rp);
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fp_sort(rp, 0, 6);
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Direction(rp[1].id, pos[1]);
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@@ -460,20 +460,20 @@ void CStrategySystem::Possession() {
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}
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else if (ball.position.x < 157 && ball.position.y >= 217 && ball.position.y <= 409) // 球在上半
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{
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pos[1] = CPoint(142, pos[0].y - 20);
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pos[2] = CPoint(142, pos[0].y + 20);
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pos[1] = CPoint(142, pos[0].y - 25);
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pos[2] = CPoint(142, pos[0].y + 25);
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pos[3] = CPoint(170, pos[0].y - 20);
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pos[4] = CPoint(170, pos[0].y + 20);
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pos[5] = CPoint(185, pos[0].y - 12);
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pos[3] = CPoint(170, pos[0].y - 25);
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pos[4] = CPoint(170, pos[0].y + 25);
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pos[5] = CPoint(185, pos[0].y - 15);
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if (pos[0].y - 50 < 157)
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pos[6] = CPoint(ball.position.x + 12, 225);
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pos[6] = CPoint(ball.position.x + 15, 225);
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else
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pos[6] = CPoint(170, pos[0].y - 50);
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pos[7] = CPoint(ball.position.x, 225);
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pos[8] = CPoint(170, pos[0].y + 45);
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pos[9] = CPoint(170, pos[0].y + 405);
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shot(cp_id(), 0);
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shot(cp_id());
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fp_sort(rp, 0, 8);
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Direction(rp[7].id, pos[1]);
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Direction(rp[8].id, pos[2]);
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@@ -487,20 +487,20 @@ void CStrategySystem::Possession() {
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}
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else if (ball.position.x < 157 && ball.position.y >= 217 && ball.position.y > 409) // 球在下半
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{
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pos[1] = CPoint(142, pos[0].y - 20);
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pos[2] = CPoint(142, pos[0].y + 20);
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pos[1] = CPoint(142, pos[0].y - 25);
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pos[2] = CPoint(142, pos[0].y + 25);
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pos[3] = CPoint(170, pos[0].y - 20);
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pos[4] = CPoint(170, pos[0].y + 20);
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pos[5] = CPoint(185, pos[0].y + 12);
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pos[3] = CPoint(170, pos[0].y - 25);
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pos[4] = CPoint(170, pos[0].y + 25);
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pos[5] = CPoint(185, pos[0].y + 15);
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if (pos[0].y + 50 > 607)
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pos[6] = CPoint(ball.position.x + 12, 615);
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pos[6] = CPoint(ball.position.x + 15, 615);
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else
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pos[6] = CPoint(170, pos[0].y + 50);
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pos[7] = CPoint(ball.position.x, 615);
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pos[8] = CPoint(170, pos[0].y - 45);
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pos[9] = CPoint(170, pos[0].y - 405);
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shot(cp_id(), 1);
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shot(cp_id());
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fp_sort(rp, 0, 8);
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Direction(rp[7].id, pos[1]);
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Direction(rp[8].id, pos[2]);
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@@ -1335,7 +1335,7 @@ CPoint CStrategySystem::coor(int which) {
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}
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// 0向下门框射
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void CStrategySystem::shot(int which, bool de) {
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void CStrategySystem::shot(int which) {
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Robot2 *robot;
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switch (which) {
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case HOME1:
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@@ -1372,6 +1372,10 @@ void CStrategySystem::shot(int which, bool de) {
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robot = &hgoalie;
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break;
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}
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bool de;
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if(ball.position.y>robot->position.y)
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de=0;
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else de=1;
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double O, O1;
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CPoint t1, t2, t3, t4; // t1球，t2机器人,t3机器人要移动到的点，t4门
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t1.x = ball.position.x;
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@@ -1408,101 +1412,9 @@ void CStrategySystem::shot(int which, bool de) {
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Position(which, t3); // 机器人到足够近的点t3
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}
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// 射？
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bool CStrategySystem::canshot() {
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bool t; // 判断球在敌方上半还是下半；0为下半
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CPoint D1, D2, t4;
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Robot2 *robot9, *robot10;
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robot9 = &home9;
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robot10 = &home10;
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// if (ball.position.y >= 409 && ball.position.x <= 290&&ball.position.y<=607) // 球在敌方下半
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// {
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// t = 0;
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// D1.x = 170;
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// D1.y = 265;
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// Position(HOME10, D1);
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// D2.x = 170;
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// D2.y = 409;
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// Position(HOME9, D2);
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// }
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// else if (ball.position.y < 409 && ball.position.x < 290 && ball.position.y >= 217 && Distance(ball.position, home10.position) > 168) // 球在敌方上半
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// {
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// t = 1;
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// D1.x = 170;
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// D1.y = 556;
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// Position(HOME10, D1);
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// D2.x = 170;
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// D2.y = 409;
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// Position(HOME9, D2);
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// if (ball.position.x >= 104 && ball.position.x <= 170 && ball.position.y >= 313 && ball.position.y <= 449 && (ball.oldPosition.y - ball.oldPosition.y) <= 0)
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// Shot(HOME9, 1);
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// if (ball.position.x >= 104 && ball.position.x <= 170 && ball.position.y > 449 && ball.position.y <= 607 && (ball.oldPosition.y - ball.oldPosition.y) <= 0)
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// Shot(HOME10, 1);
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// }
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if (ball.position.y <= 481) // 敌方框上半场
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{
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D1.x = 170;
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D1.y = 265;
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D2.x = 170;
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D2.y = 409;
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if (Distance(ball.position, home9.position) <= 116 && ball.position.y >= 409 && ball.position.y <= 481) // 9可射
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{
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shot(HOME9, 0);
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Direction(HOME10, D1);
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}
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else if (Distance(ball.position, home10.position) <= 168 && ball.position.y < 409 && ball.position.y >= 265) // 10可射
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{
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Direction(HOME9, D2);
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shot(HOME10, 0);
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}
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else { // 9，10到预定位置
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Direction(HOME10, D1);
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Direction(HOME9, D2);
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}
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return 1;
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}
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else if (ball.position.y >= 337) // 敌方框下半场
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{
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D1.x = 170;
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D1.y = 556;
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D2.x = 170;
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D2.y = 409;
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if (Distance(ball.position, home9.position) <= 116 && ball.position.y <= 409 && ball.position.y >= 337) // 9可射
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{
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shot(HOME9, 1);
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Direction(HOME10, D1);
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}
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else if (Distance(ball.position, home10.position) <= 164 && ball.position.y > 409 && ball.position.y <= 556) // 10可射
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{
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Direction(HOME9, D2);
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shot(HOME10, 1);
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}
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else { // 9，10到预定位置
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Direction(HOME10, D1);
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Direction(HOME9, D2);
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}
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return 1;
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}
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return 0;
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// if ()
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// {
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// if (ball.position.y <= 170) {
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// Position(HOME10, D1);
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// Shot(HOME9, 0);
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// }
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// else if (ball.position.y >= 170) {
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// Position(HOME9, D2);
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// Shot(HOME10, 0);
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// }
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// }
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// else {
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// Position(HOME10, D1);
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// Position(HOME9, D2);
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// }
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}
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// 把球向t点射,de向上还是向下射
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void CStrategySystem::shot(int which, bool de, CPoint t) {
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// 把球向t点射,{de向上还是向下射}
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void CStrategySystem::shot(int which, CPoint t) {
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Robot2 *robot;
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switch (which) {
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case HOME1:
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@@ -1539,6 +1451,10 @@ void CStrategySystem::shot(int which, bool de, CPoint t) {
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robot = &hgoalie;
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break;
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}
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bool de;
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if(ball.position.y>robot->position.y)
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de=0;
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else de=1;
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double O;
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CPoint t1, t2, t3; // t1球，t2机器人,t3机器人要移动到的点
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t1.x = ball.position.x;
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@@ -1582,21 +1498,7 @@ void CStrategySystem::shot(int which, bool de, CPoint t) {
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}
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// 直射
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void CStrategySystem::shot1(int which, double o, CPoint t) {
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Robot2 *robot;
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switch (which) {
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case HOME9:
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robot = &home9;
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break;
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case HOME1:
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robot = &home1;
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break;
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}
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bool a = 0;
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/*if((fabs(Angle(ball.position, t) - Angle(robot->position, t))) > 5)*/
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Angle(which, o);
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Velocity(which, 127, 127); // which全速前进
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}
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/*void banarea(int which) //让9，10不进禁区
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{
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@@ -2640,12 +2542,12 @@ void CStrategySystem::Action() {
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flag = true;
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Penalty();
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break;
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// case 2:
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// case 3:
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// case 4:
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// case 5:
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// Freeball();
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// break;
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case 2:
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case 3:
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case 4:
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case 5:
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Freeball();
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break;
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default:
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flag = true;
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Possession();
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+3
-4
@@ -37,8 +37,7 @@ private:
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CPoint coor(int which); // 返回机器人的位置
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// void spin(int which, bool isClockwise); // 自旋
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void shot1(int which, double o, CPoint t); // 直射
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bool canshot(); // 射？
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//void shot1(int which, double o, CPoint t); // 直射
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int search1(); // 查找在大区里的机器人
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int search2(); // 查找在小区里的机器人
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//CPoint searchNear(int which); // 查找最近的机器人
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@@ -46,8 +45,8 @@ private:
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// void ccd(int which, double d, double j); // 曲线行驶
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double atwo(int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4); // 两直线间夹角
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// void navigate();
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void shot(int which, bool de); // 射门;
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void shot(int which, bool de, CPoint t); // 把球向 t 点射,de 向上还是向下射,de = 0从上向下射
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void shot(int which); // 射门;
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void shot(int which,CPoint t); // 把球向 t 点,
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CPoint shooter_pos(); // 对方射门者位置
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double Distance(CPoint point1, CPoint point2); // 计算两点之间的距离
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