From c018727aec6e47fb2f4ffe155d11d537aa28bc83 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=AD=99=E5=9F=B9=E4=BC=B6?= <3061784569@qq.com> Date: Thu, 21 Mar 2024 12:20:37 +0800 Subject: [PATCH] shot --- StrategySystem.cpp | 190 +++++++++++---------------------------------- StrategySystem.h | 7 +- 2 files changed, 49 insertions(+), 148 deletions(-) diff --git a/StrategySystem.cpp b/StrategySystem.cpp index 7d0b981..31b4b4a 100644 --- a/StrategySystem.cpp +++ b/StrategySystem.cpp @@ -408,17 +408,17 @@ void CStrategySystem::Possession() { else if (fm_id() == 3) { if (ball.position.x >= 157 && ball.position.x <= 290 && ball.position.y <= 409) { // 内圈 - pos[1] = CPoint(pos[0].x - 20, pos[0].y - 40); - pos[2] = CPoint(pos[0].x + 20, pos[0].y - 40); - pos[3] = CPoint(pos[0].x + 40 * cos(30), pos[0].y - 40 * sin(30)); - pos[4] = CPoint(pos[0].x + 40 * cos(30), pos[0].y + 40 * sin(40)); - pos[5] = CPoint(pos[0].x + 20, pos[0].y + 40); - pos[6] = CPoint(pos[0].x - 20, pos[0].y + 40); + pos[1] = CPoint(pos[0].x - 25, pos[0].y - 40); + pos[2] = CPoint(pos[0].x + 25, pos[0].y - 40); + pos[3] = CPoint(pos[0].x + 50 * cos(30), pos[0].y - 40 * sin(30)); + pos[4] = CPoint(pos[0].x + 50 * cos(30), pos[0].y + 40 * sin(40)); + pos[5] = CPoint(pos[0].x + 25, pos[0].y + 40); + pos[6] = CPoint(pos[0].x - 25, pos[0].y + 40); // 内圈 pos[7] = CPoint(pos[0].x + 120 * cos(67.5), pos[0].y - 120 * sin(67.5)); pos[8] = CPoint(pos[0].x + 120 * cos(45), pos[0].y - 120 * sin(45)); pos[9] = CPoint(pos[0].x + 120 * cos(22.5), pos[0].y - 120 * sin(22.5)); - shot(cp_id(), 0, CPoint(45, 361)); + shot(cp_id(), CPoint(45, 361)); fp_sort(rp); fp_sort(rp, 0, 6); Direction(rp[1].id, pos[1]); @@ -434,17 +434,17 @@ void CStrategySystem::Possession() { } else if (ball.position.x >= 157 && ball.position.x <= 290 && ball.position.y > 409) { // 内圈 - pos[1] = CPoint(pos[0].x - 20, pos[0].y - 40); - pos[2] = CPoint(pos[0].x + 20, pos[0].y - 40); - pos[3] = CPoint(pos[0].x + 40 * cos(30), pos[0].y - 40 * sin(30)); - pos[4] = CPoint(pos[0].x + 40 * cos(30), pos[0].y + 40 * sin(40)); - pos[5] = CPoint(pos[0].x + 20, pos[0].y + 40); - pos[6] = CPoint(pos[0].x - 20, pos[0].y + 40); + pos[1] = CPoint(pos[0].x - 25, pos[0].y - 40); + pos[2] = CPoint(pos[0].x + 25, pos[0].y - 40); + pos[3] = CPoint(pos[0].x + 50 * cos(30), pos[0].y - 40 * sin(30)); + pos[4] = CPoint(pos[0].x + 50 * cos(30), pos[0].y + 40 * sin(40)); + pos[5] = CPoint(pos[0].x + 25, pos[0].y + 40); + pos[6] = CPoint(pos[0].x - 25, pos[0].y + 40); // 内圈 pos[7] = CPoint(pos[0].x + 120 * cos(67.5), pos[0].y + 120 * sin(67.5)); pos[8] = CPoint(pos[0].x + 120 * cos(45), pos[0].y + 120 * sin(45)); pos[9] = CPoint(pos[0].x + 120 * cos(22.5), pos[0].y + 120 * sin(22.5)); - shot(cp_id(), 0, CPoint(45, 457)); + shot(cp_id(), CPoint(45, 457)); fp_sort(rp); fp_sort(rp, 0, 6); Direction(rp[1].id, pos[1]); @@ -460,20 +460,20 @@ void CStrategySystem::Possession() { } else if (ball.position.x < 157 && ball.position.y >= 217 && ball.position.y <= 409) // 球在上半 { - pos[1] = CPoint(142, pos[0].y - 20); - pos[2] = CPoint(142, pos[0].y + 20); + pos[1] = CPoint(142, pos[0].y - 25); + pos[2] = CPoint(142, pos[0].y + 25); - pos[3] = CPoint(170, pos[0].y - 20); - pos[4] = CPoint(170, pos[0].y + 20); - pos[5] = CPoint(185, pos[0].y - 12); + pos[3] = CPoint(170, pos[0].y - 25); + pos[4] = CPoint(170, pos[0].y + 25); + pos[5] = CPoint(185, pos[0].y - 15); if (pos[0].y - 50 < 157) - pos[6] = CPoint(ball.position.x + 12, 225); + pos[6] = CPoint(ball.position.x + 15, 225); else pos[6] = CPoint(170, pos[0].y - 50); pos[7] = CPoint(ball.position.x, 225); pos[8] = CPoint(170, pos[0].y + 45); pos[9] = CPoint(170, pos[0].y + 405); - shot(cp_id(), 0); + shot(cp_id()); fp_sort(rp, 0, 8); Direction(rp[7].id, pos[1]); Direction(rp[8].id, pos[2]); @@ -487,20 +487,20 @@ void CStrategySystem::Possession() { } else if (ball.position.x < 157 && ball.position.y >= 217 && ball.position.y > 409) // 球在下半 { - pos[1] = CPoint(142, pos[0].y - 20); - pos[2] = CPoint(142, pos[0].y + 20); + pos[1] = CPoint(142, pos[0].y - 25); + pos[2] = CPoint(142, pos[0].y + 25); - pos[3] = CPoint(170, pos[0].y - 20); - pos[4] = CPoint(170, pos[0].y + 20); - pos[5] = CPoint(185, pos[0].y + 12); + pos[3] = CPoint(170, pos[0].y - 25); + pos[4] = CPoint(170, pos[0].y + 25); + pos[5] = CPoint(185, pos[0].y + 15); if (pos[0].y + 50 > 607) - pos[6] = CPoint(ball.position.x + 12, 615); + pos[6] = CPoint(ball.position.x + 15, 615); else pos[6] = CPoint(170, pos[0].y + 50); pos[7] = CPoint(ball.position.x, 615); pos[8] = CPoint(170, pos[0].y - 45); pos[9] = CPoint(170, pos[0].y - 405); - shot(cp_id(), 1); + shot(cp_id()); fp_sort(rp, 0, 8); Direction(rp[7].id, pos[1]); Direction(rp[8].id, pos[2]); @@ -1335,7 +1335,7 @@ CPoint CStrategySystem::coor(int which) { } // 0向下门框射 -void CStrategySystem::shot(int which, bool de) { +void CStrategySystem::shot(int which) { Robot2 *robot; switch (which) { case HOME1: @@ -1372,6 +1372,10 @@ void CStrategySystem::shot(int which, bool de) { robot = &hgoalie; break; } + bool de; + if(ball.position.y>robot->position.y) + de=0; + else de=1; double O, O1; CPoint t1, t2, t3, t4; // t1球，t2机器人,t3机器人要移动到的点，t4门 t1.x = ball.position.x; @@ -1408,101 +1412,9 @@ void CStrategySystem::shot(int which, bool de) { Position(which, t3); // 机器人到足够近的点t3 } -// 射？ -bool CStrategySystem::canshot() { - bool t; // 判断球在敌方上半还是下半；0为下半 - CPoint D1, D2, t4; - Robot2 *robot9, *robot10; - robot9 = &home9; - robot10 = &home10; - // if (ball.position.y >= 409 && ball.position.x <= 290&&ball.position.y<=607) // 球在敌方下半 - // { - // t = 0; - // D1.x = 170; - // D1.y = 265; - // Position(HOME10, D1); - // D2.x = 170; - // D2.y = 409; - // Position(HOME9, D2); - // } - // 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 - // { - // t = 1; - // 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); - // } - if (ball.position.y <= 481) // 敌方框上半场 - { - D1.x = 170; - 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 - { - 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 - { - Direction(HOME9, D2); - shot(HOME10, 0); - } - 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 - { - 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 - { - Direction(HOME9, D2); - shot(HOME10, 1); - } - else { // 9，10到预定位置 - Direction(HOME10, D1); - Direction(HOME9, D2); - } - return 1; - } - return 0; - // if () - // { - // if (ball.position.y <= 170) { - // Position(HOME10, D1); - // Shot(HOME9, 0); - // } - // else if (ball.position.y >= 170) { - // Position(HOME9, D2); - // Shot(HOME10, 0); - // } - // } - // else { - // Position(HOME10, D1); - // Position(HOME9, D2); - // } -} -// 把球向t点射,de向上还是向下射 -void CStrategySystem::shot(int which, bool de, CPoint t) { +// 把球向t点射,{de向上还是向下射} +void CStrategySystem::shot(int which, CPoint t) { Robot2 *robot; switch (which) { case HOME1: @@ -1539,6 +1451,10 @@ void CStrategySystem::shot(int which, bool de, CPoint t) { robot = &hgoalie; break; } + bool de; + if(ball.position.y>robot->position.y) + de=0; + else de=1; double O; CPoint t1, t2, t3; // t1球，t2机器人,t3机器人要移动到的点 t1.x = ball.position.x; @@ -1582,21 +1498,7 @@ void CStrategySystem::shot(int which, bool de, CPoint t) { } // 直射 -void CStrategySystem::shot1(int which, double o, CPoint t) { - Robot2 *robot; - switch (which) { - case HOME9: - robot = &home9; - break; - case HOME1: - robot = &home1; - break; - } - bool a = 0; - /*if((fabs(Angle(ball.position, t) - Angle(robot->position, t))) > 5)*/ - Angle(which, o); - Velocity(which, 127, 127); // which全速前进 -} + /*void banarea(int which) //让9，10不进禁区 { @@ -2640,12 +2542,12 @@ void CStrategySystem::Action() { flag = true; Penalty(); break; - // case 2: - // case 3: - // case 4: - // case 5: - // Freeball(); - // break; + case 2: + case 3: + case 4: + case 5: + Freeball(); + break; default: flag = true; Possession(); diff --git a/StrategySystem.h b/StrategySystem.h index 8e8e61f..f7c3988 100644 --- a/StrategySystem.h +++ b/StrategySystem.h @@ -37,8 +37,7 @@ private: CPoint coor(int which); // 返回机器人的位置 // void spin(int which, bool isClockwise); // 自旋 - void shot1(int which, double o, CPoint t); // 直射 - bool canshot(); // 射？ + //void shot1(int which, double o, CPoint t); // 直射 int search1(); // 查找在大区里的机器人 int search2(); // 查找在小区里的机器人 //CPoint searchNear(int which); // 查找最近的机器人 @@ -46,8 +45,8 @@ private: // void ccd(int which, double d, double j); // 曲线行驶 double atwo(int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4); // 两直线间夹角 // void navigate(); - void shot(int which, bool de); // 射门; - 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 + void shot(int which); // 射门; + void shot(int which,CPoint t); // 把球向 t 点, CPoint shooter_pos(); // 对方射门者位置 double Distance(CPoint point1, CPoint point2); // 计算两点之间的距离