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水完了

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dewfewg committed 2023-11-27 19:28:06 +08:00
1 parent 43cdf80e0e
commit dca34590d0
2 files changed
+282 -100
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StrategySystem.cpp
+281 -100
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@@ -506,12 +506,9 @@ int CStrategySystem::cp_id() { // 中央球员 ID
}
}
}
else if (fm_id() == 3)
{
if(ball.position.x>=157&&ball.position.x<=290)
{
for (int i = 0; i < 10; i++)
{
else if (fm_id() == 3) {
if (ball.position.x >= 157 && ball.position.x <= 290) {
for (int i = 0; i < 10; i++) {
if (cur_pos[i].x < ball.position.x)
cur_pos[i] = CPoint(-965, -723);
}
@@ -523,7 +520,7 @@ int CStrategySystem::cp_id() { // 中央球员 ID
}
}
}
else if (ball.position.x >= 65 && ball.position.x < 157)//球在禁区用y轴最近
else if (ball.position.x >= 65 && ball.position.x < 157) // 球在禁区用y轴最近
{
double min = 10000;
for (int i = 0; i < 10; i++) {
@@ -531,7 +528,7 @@ int CStrategySystem::cp_id() { // 中央球员 ID
cur_pos[i] = CPoint(-965, -723);
}
for (int i = 0; i < 10; i++) {
if (fabs(ball.position.y-cur_pos[i].y) < min) {
if (fabs(ball.position.y - cur_pos[i].y) < min) {
min = fabs(ball.position.y - cur_pos[i].y);
id = i + 1;
}
@@ -570,7 +567,7 @@ void CStrategySystem::cp_kick() { // TODO 中心球员击球
else if (ball.position.x >= 157 && ball.position.x <= 290 && ball.position.y > 409)
shot(cp_id(), 0, CPoint(45, 361));
else
Dirextion(cp_id(), CPoint(170, ball.position.y));
Direction(cp_id(), CPoint(170, ball.position.y));
}
else {
Direction(cp_id(), ball.position);
@@ -611,22 +608,20 @@ void CStrategySystem::fm_gen() { // TODO 阵型生成
else if (fm_id() == 2) {
}
else if (fm_id() == 3) {
if(ball.position.x>=157&&ball.position.x<=290&&ball.position.y<=409)
{
//内圈
if (ball.position.x >= 157 && ball.position.x <= 290 && ball.position.y <= 409) {
// 内圈
pos[1] = CPoint(pos[0].x - 15, pos[0].y - 40);
pos[2] = CPoint(pos[0].x + 15, 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 + 15, pos[0].y + 40);
pos[6] = CPoint(pos[0].x - 15, pos[0].y + 40);
//内圈
// 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));
}
else if (ball.position.x >= 157 && ball.position.x <= 290 && ball.position.y >409 )
{
else if (ball.position.x >= 157 && ball.position.x <= 290 && ball.position.y > 409) {
// 内圈
pos[1] = CPoint(pos[0].x - 15, pos[0].y - 40);
pos[2] = CPoint(pos[0].x + 15, pos[0].y - 40);
@@ -639,31 +634,31 @@ void CStrategySystem::fm_gen() { // TODO 阵型生成
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));
}
else if(ball.position.x<157&&ball.position.y>=217&&ball.position.y<=409)//球在上半
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 - 12);
pos[2] = CPoint(142, pos[0].y + 12);
pos[1] = CPoint(142, pos[0].y - 20);
pos[2] = CPoint(142, pos[0].y + 20);
pos[3] = CPoint(170, pos[0].y - 15);
pos[4] = CPoint(170, pos[0].y + 15);
pos[3] = CPoint(170, pos[0].y - 20);
pos[4] = CPoint(170, pos[0].y + 20);
pos[5] = CPoint(185, pos[0].y - 12);
if (pos[0].y - 50<157)
pos[6] = CPoint(ball.position.x+12, 225);
else
if (pos[0].y - 50 < 157)
pos[6] = CPoint(ball.position.x + 12, 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);
}
else if(ball.position.x<157&&ball.position.y>=217&&ball.position.y>409)//球在下半
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 - 12);
pos[2] = CPoint(142, pos[0].y + 12);
pos[1] = CPoint(142, pos[0].y - 20);
pos[2] = CPoint(142, pos[0].y + 20);
pos[3] = CPoint(170, pos[0].y - 15);
pos[4] = CPoint(170, pos[0].y + 15);
pos[3] = CPoint(170, pos[0].y - 20);
pos[4] = CPoint(170, pos[0].y + 20);
pos[5] = CPoint(185, pos[0].y + 12);
if (pos[0].y + 50 >607)
if (pos[0].y + 50 > 607)
pos[6] = CPoint(ball.position.x + 12, 615);
else
pos[6] = CPoint(170, pos[0].y + 50);
@@ -687,82 +682,84 @@ void CStrategySystem::fm_gen() { // TODO 阵型生成
else if (fm_id() == 8) {
}
else if (fm_id() == 9) {
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[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;
pos[2].y = pos[1].y - 40;
}
else if(ball.position.y<=409)//球在上面
else if (ball.position.y <= 409) // 球在上面
{
pos[2].y=pos[1].y+40;
pos[2].y = pos[1].y + 40;
}
if(ball.position.x<873)//球在禁区外
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)
{
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;
}
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;
}
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;
}
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;
}
}
}
}
void CStrategySystem::fp_move()
{ // TODO 阵型球员移动
void CStrategySystem::fp_move() { // TODO 阵型球员移动
if (fm_id() == 1) {
}
else if (fm_id() == 2) {
}
else if (fm_id() == 3) {
if (ball.position.x >= 157 && ball.position.x <= 290)
{
if (ball.position.x >= 157 && ball.position.x <= 290) {
struct infor a[11];
for (int i = 1; i <= 10;i++)
{
for (int i = 1; i <= 10; i++) {
a[i].num = i;
Robot2 *robot;
switch (i) {
@@ -802,12 +799,9 @@ void CStrategySystem::fp_move()
}
a[i].dis = Distance(ball.position, robot->position);
}
for (int i = 1; i <= 10;i++)
{
for (int j = i+1; j <= 10;j++)
{
if(a[i]>a[j])
{
for (int i = 1; i <= 10; i++) {
for (int j = i + 1; j <= 10; j++) {
if (a[i].dis > a[j].dis) {
struct infor t;
t = a[i];
a[i] = a[j];
@@ -815,13 +809,163 @@ void CStrategySystem::fp_move()
}
}
}
for (i = 1; i <= 10;i++)
if(a[i].num!=cp_id())
for (int i = 1; i <= 10; i++)
if (a[i].num != cp_id())
Direction(a[i].num, pos[i - 1]);
}
else if(ball.position.x<157&&ball.position.y<=409)
{
if()
else if (pos[0].y <= 409 && ball.position.x < 157) {
struct infor a[11];
for (int i = 1; i <= 10; i++) {
a[i].num = i;
Robot2 *robot;
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;
case HGOALIE:
robot = &hgoalie;
break;
}
a[i].dis = fabs(ball.position.y - robot->position.y);
}
for (int i = 1; i <= 10; i++) {
for (int j = i + 1; j <= 10; j++) {
if (a[i].dis > a[j].dis) {
struct infor t;
t = a[i];
a[i] = a[j];
a[j] = t;
}
}
}
if (ball.position.x < coor(a[2].num).x && ball.position.y > coor(a[2].num).x && Distance(ball.position, coor(a[2].num)) <= 77 && search1() <= 3)
shot(a[2].num, 0);
else
Direction(a[2].num, pos[1]);
if (ball.position.x < coor(a[3].num).x && ball.position.y > coor(a[3].num).x && Distance(ball.position, coor(a[3].num)) <= 77 && search1() <= 3)
shot(a[3].num, 0);
else
Direction(a[3].num, pos[2]);
if (ball.position.x > coor(a[1].num).x && ball.position.x < coor(a[9].num).x && search1() <= 3)
shot(a[9].num, 1);
else
Direction(a[9].num, pos[8]);
if (ball.position.x > coor(a[9].num).x && ball.position.x < coor(a[10].num).x && search1() <= 3)
shot(a[10].num, 1);
else
Direction(a[10].num, pos[9]);
if (ball.position.x < 313 && search1() <= 3)
shot(a[8].num, 0);
else
Direction(a[8].num, pos[7]);
for (int i = 1; i <= 10; i++) {
if (a[i].num != cp_id() && i != 2 && i != 3 && i != 9 && i != 10 && i != 8)
Direction(a[i].num, pos[i - 1]);
}
}
else {
struct infor a[11];
for (int i = 1; i <= 10; i++) {
a[i].num = i;
Robot2 *robot;
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;
case HGOALIE:
robot = &hgoalie;
break;
}
a[i].dis = fabs(ball.position.y - robot->position.y);
}
for (int i = 1; i <= 10; i++) {
for (int j = i + 1; j <= 10; j++) {
if (a[i].dis > a[j].dis) {
struct infor t;
t = a[i];
a[i] = a[j];
a[j] = t;
}
}
}
if (ball.position.x < coor(a[2].num).x && ball.position.y > coor(a[2].num).x && Distance(ball.position, coor(a[2].num)) <= 77 && search1() <= 3)
shot(a[2].num, 1);
else
Direction(a[2].num, pos[1]);
if (ball.position.x < coor(a[3].num).x && ball.position.y > coor(a[3].num).x && Distance(ball.position, coor(a[3].num)) <= 77 && search1() <= 3)
shot(a[3].num, 1);
else
Direction(a[3].num, pos[2]);
if (ball.position.x > coor(a[1].num).x && ball.position.x < coor(a[9].num).x && search1() <= 3)
shot(a[9].num, 0);
else
Direction(a[9].num, pos[8]);
if (ball.position.x > coor(a[9].num).x && ball.position.x < coor(a[10].num).x && search1() <= 3)
shot(a[10].num, 0);
else
Direction(a[10].num, pos[9]);
if (ball.position.x < 31 && search1() <= 33)
shot(a[8].num, 1);
else
Direction(a[8].num, pos[7]);
for (int i = 1; i <= 10; i++) {
if (a[i].num != cp_id() && i != 2 && i != 3 && i != 9 && i != 10 && i != 8)
Direction(a[i].num, pos[i - 1]);
}
}
}
else if (fm_id() == 4) {
@@ -837,9 +981,49 @@ void CStrategySystem::fp_move()
else if (fm_id() == 9) {
}
}
CPoint CStrategySystem::coor(int which) // 返回机器人的位置
{
Robot2 *robot;
switch (which) {
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;
case HGOALIE:
robot = &hgoalie;
break;
}
return robot->position;
}
void CStrategySystem::shot(int which, bool de) // 0向下门框射
{
{
Robot2 *robot;
switch (which) {
case HOME1:
@@ -1049,21 +1233,18 @@ void CStrategySystem::shot(int which, bool de, CPoint t) // 把球向t点射,de
t1.y = ball.position.y;
if (de == 0) {
O = atan(fabs(ball.position.y - t.y) / fabs(ball.position.x - t.x));
if(ball.position.x<=515)
{
if (ball.position.x <= 515) {
t3.x = t1.x + cos(O) * 34;
t3.y = t1.y - sin(O) * 34;
}
else
{
else {
t3.x = t1.x - cos(O) * 34;
t3.y = t1.y - sin(O) * 34;
}
}
else if (de == 1) {
O = atan(fabs(ball.position.y - t.y) / fabs(ball.position.x - t.x)); // fabs(Angle(ball.position,t4));
if (ball.position.x <= 515)
{
if (ball.position.x <= 515) {
t3.x = t1.x + cos(O) * 34;
t3.y = t1.y + sin(O) * 34;
}
@@ -2630,7 +2811,7 @@ CStrategySystem::CStrategySystem(int id) {
// Navigation.push_back(CPoint(515, 409));
// }
pos = new CPoint [10];
pos = new CPoint[10];
flag = true;