718 lines
18 KiB
C++
718 lines
18 KiB
C++
#include "StdAfx.h"
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#include "StrategySystem.h"
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#ifdef _DEBUG
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#define new DEBUG_NEW
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#undef THIS_FILE
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static char THIS_FILE[] = __FILE__;
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#endif
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IMPLEMENT_DYNAMIC(CStrategySystem, CObject)
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extern int nKick;
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#define BALL_WIDTH 78
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#define BALL_LENGTH 156
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#define BALL_DIS 26
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#define CORNER 115
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#define ANGLE_BOUND 60
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#define BOUND_BOUND 12
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#define G_OFFSET 20
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#define G_ANGLE_BOUND 60
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#define G_BOUND_BOUND 10
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// 罚球
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void CStrategySystem::Penalty() {
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// TODO: Penalty
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}
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// 争球
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void CStrategySystem::Freeball() {
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// TODO: Freeball
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}
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// 射门
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void CStrategySystem::Shot() {
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// TODO: Shot
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}
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// 控球
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void CStrategySystem::Possession() {
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// TODO: Possession
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}
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// 守门
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void CStrategySystem::Goalie() {
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static bool flag = true;
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int gx = ball.position.x < 950 ? 950 : 965;
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// TODO: 防点球
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// if (CheckBallPosF1() == 1 || isPenalty) {
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// isPenalty = true;
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// if (ball.position.y < 409) {
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// Position(which, CPoint(gx, 217));
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// }
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// else {
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// Position(which, CPoint(gx, 607));
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// }
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// if (ball.position.x < 900) {
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// PositionPro(which, CPoint(ball.position));
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// }
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// if (ball.oldPosition.x > ball.position.x || ball.position.x >= 965) {
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// isPenalty = false;
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// }
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// }
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// else {
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// 球在我方半场且在预测区域远离球门
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if (ball.position.x > 515 && ball.position.x < 900 || ball.position.x > 900 && ball.position.x < ball.oldPosition.x) {
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flag = true;
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if (ball.position.y < 313)
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Position(HGOALIE, CPoint(gx, 313));
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else if (ball.position.y > 505)
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Position(HGOALIE, CPoint(gx, 505));
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else
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Position(HGOALIE, CPoint(gx, ball.position.y));
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}
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// 球在中预测区域靠近球门
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else if (ball.position.x > 515 && ball.position.y > 217 && ball.position.y < 607) {
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double dy = 0;
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if (flag)
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dy = (gx - ball.position.x) * ABS(ball.position.y - ball.oldPosition.y) * 1.0 / (ball.position.x - ball.oldPosition.x);
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flag = false;
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if (ball.position.y > ball.oldPosition.y)
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Position(HGOALIE, CPoint(gx, ball.position.y + dy));
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else
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Position(HGOALIE, CPoint(gx, ball.position.y - dy));
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if (ball.position.x > 900) {
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double dy = (hgoalie.position.x - 873) * ABS(ball.position.y - hgoalie.position.y) * 1.0 / (hgoalie.position.x - ball.position.x);
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if (ball.position.y > hgoalie.position.y)
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Position(HGOALIE, CPoint(873, hgoalie.position.y + dy));
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else
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Position(HGOALIE, CPoint(873, hgoalie.position.y - dy));
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}
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}
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// 球在上预测区域靠近球门
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else if (ball.position.x > 515 && ball.position.y < 217 && ball.position.y >= ball.oldPosition.y) {
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flag = true;
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if (hgoalie.position.y > 217) {
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PositionPro(HGOALIE, CPoint(ball.position));
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}
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Position(HGOALIE, CPoint(gx, 265));
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}
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// 球在下预测区域靠近球门
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else if (ball.position.x > 515 && ball.position.y <= ball.oldPosition.y) {
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flag = true;
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if (hgoalie.position.y < 607) {
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PositionPro(HGOALIE, CPoint(ball.position));
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}
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Position(HGOALIE, CPoint(gx, 556));
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}
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// 球在对方半场
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else {
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flag = true;
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Position(HGOALIE, CPoint(gx, 409));
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}
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//}
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}
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double CStrategySystem::Distance(CPoint point1, CPoint point2) {
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return sqrt(1.0 * (point1.x - point2.x) * (point1.x - point2.x) + 1.0 * (point1.y - point2.y) * (point1.y - point2.y));
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}
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int CStrategySystem::Status() {
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if (ball.position.x <= 309 && ball.position.x >= 279 && ball.position.y >= 394 && ball.position.y <= 424)
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return 0; // 罚球
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if (ball.position.x <= 309 && ball.position.x >= 279 && ball.position.y >= 394 && ball.position.y <= 424)
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return 1; // 争球
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if (ball.position.x >= 900 && ball.position.x <= 930 && ball.position.y >= 394 && ball.position.y <= 424)
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return 2; // 射门
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return 3; // 控球
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}
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void CStrategySystem::Think() {
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if (Status() == 0) {
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Penalty();
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return;
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}
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if (Status() == 1) {
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Freeball();
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return;
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}
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if (Status() == 2) {
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Shot();
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return;
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}
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if (Status() == 3) {
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Possession();
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return;
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}
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}
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void CStrategySystem::Action() {
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Think();
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Goalie();
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}
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void CStrategySystem::Angle(int which, int desired_angle) {
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Robot2 *robot;
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int theta_e, vL, vR;
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switch (which) {
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case HOME1:
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robot = &home1;
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break;
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case HOME2:
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robot = &home2;
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break;
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case HOME3:
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robot = &home3;
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break;
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case HOME4:
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robot = &home4;
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break;
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case HOME5:
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robot = &home5;
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break;
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case HOME6:
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robot = &home6;
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break;
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case HOME7:
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robot = &home7;
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break;
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case HOME8:
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robot = &home8;
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break;
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case HOME9:
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robot = &home9;
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break;
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case HOME10:
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robot = &home10;
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break;
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case HGOALIE:
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robot = &hgoalie;
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break;
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}
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theta_e = desired_angle - robot->angle;
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while (theta_e > 180)
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theta_e -= 360;
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while (theta_e < -180)
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theta_e += 360;
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if (theta_e < -90)
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theta_e += 180;
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else if (theta_e > 90)
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theta_e -= 180;
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vL = (int)(60.0 / 90.0 * theta_e);
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vR = (int)(-60.0 / 90.0 * theta_e);
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Velocity(which, vL, vR);
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}
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void CStrategySystem::Velocity(int which, int vL, int vR) {
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if (vL < -127)
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vL = -127;
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if (vL > 127)
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vL = 127;
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if (vR < -127)
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vR = -127;
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if (vR > 127)
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vR = 127;
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switch (which) {
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case HOME1:
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command[2] = vL;
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command[3] = vR;
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command[4] = C_GO;
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break;
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case HOME2:
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command[5] = vL;
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command[6] = vR;
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command[7] = C_GO;
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break;
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case HOME3:
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command[8] = vL;
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command[9] = vR;
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command[10] = C_GO;
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break;
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case HOME4:
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command[11] = vL;
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command[12] = vR;
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command[13] = C_GO;
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break;
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case HOME5:
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command[14] = vL;
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command[15] = vR;
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command[16] = C_GO;
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break;
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case HOME6:
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command[17] = vL;
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command[18] = vR;
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command[19] = C_GO;
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break;
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case HOME7:
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command[20] = vL;
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command[21] = vR;
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command[22] = C_GO;
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break;
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case HOME8:
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command[23] = vL;
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command[24] = vR;
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command[25] = C_GO;
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break;
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case HOME9:
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command[26] = vL;
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command[27] = vR;
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command[28] = C_GO;
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break;
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case HOME10:
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command[29] = vL;
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command[30] = vR;
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command[31] = C_GO;
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break;
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case HGOALIE:
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command[32] = vL;
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command[33] = vR;
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command[34] = C_GO;
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break;
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}
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}
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void CStrategySystem::Position(int which, CPoint point) {
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Robot2 *robot;
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double distance_e;
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int dx, dy, desired_angle, theta_e, vL, vR;
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switch (which) {
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case HOME1:
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robot = &home1;
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break;
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case HOME2:
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robot = &home2;
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break;
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case HOME3:
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robot = &home3;
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break;
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case HOME4:
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robot = &home4;
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break;
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case HOME5:
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robot = &home5;
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break;
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case HOME6:
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robot = &home6;
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break;
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case HOME7:
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robot = &home7;
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break;
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case HOME8:
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robot = &home8;
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break;
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case HOME9:
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robot = &home9;
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break;
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case HOME10:
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robot = &home10;
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break;
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case HGOALIE:
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robot = &hgoalie;
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break;
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}
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dx = point.x - robot->position.x;
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dy = point.y - robot->position.y;
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distance_e = sqrt(1.0 * dx * dx + 1.0 * dy * dy);
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if (dx == 0 && dy == 0)
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desired_angle = 90;
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else
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desired_angle = (int)(180.0 / M_PI * atan2((double)(dy), (double)(dx)));
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theta_e = desired_angle - robot->angle;
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while (theta_e > 180)
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theta_e -= 360;
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while (theta_e < -180)
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theta_e += 360;
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if (theta_e < -90) {
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theta_e += 180;
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distance_e = -distance_e;
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}
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else if (theta_e > 90) {
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theta_e -= 180;
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distance_e = -distance_e;
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}
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vL = (int)(5. * (100.0 / 1000.0 * distance_e + 40.0 / 90.0 * theta_e));
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vR = (int)(5. * (100.0 / 1000.0 * distance_e - 40.0 / 90.0 * theta_e));
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Velocity(which, vL, vR);
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}
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void CStrategySystem::PositionPro(int which, CPoint point) { // TODO: PositionPro
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Robot2 *robot;
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double distance_e;
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int dx, dy, desired_angle, theta_e, vL, vR;
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switch (which) {
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case HOME1:
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robot = &home1;
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break;
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case HOME2:
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robot = &home2;
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break;
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case HOME3:
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robot = &home3;
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break;
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case HOME4:
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robot = &home4;
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break;
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case HOME5:
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robot = &home5;
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break;
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case HOME6:
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robot = &home6;
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break;
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case HOME7:
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robot = &home7;
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break;
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case HOME8:
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robot = &home8;
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break;
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case HOME9:
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robot = &home9;
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break;
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case HOME10:
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robot = &home10;
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break;
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case HGOALIE:
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robot = &hgoalie;
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break;
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}
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dx = point.x - robot->position.x;
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dy = point.y - robot->position.y;
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distance_e = sqrt(1.0 * dx * dx + 1.0 * dy * dy);
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if (dx == 0 && dy == 0)
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desired_angle = 90;
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else
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desired_angle = (int)(180.0 / M_PI * atan2((double)(dy), (double)(dx)));
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theta_e = desired_angle - robot->angle;
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while (theta_e > 180)
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theta_e -= 360;
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while (theta_e < -180)
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theta_e += 360;
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if (theta_e < -90) {
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theta_e += 180;
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distance_e = -distance_e;
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}
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else if (theta_e > 90) {
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theta_e -= 180;
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distance_e = -distance_e;
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}
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vL = (int)(5. * (100.0 / 1000.0 * distance_e + 40.0 / 90.0 * theta_e));
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vR = (int)(5. * (100.0 / 1000.0 * distance_e - 40.0 / 90.0 * theta_e));
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Velocity(which, vL, vR);
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}
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void CStrategySystem::Stop(int which) {
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int vL, vR;
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vL = vR = 0;
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Velocity(which, vL, vR);
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}
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void CStrategySystem::ReceiveData(Robot1 bal, Robot2 ho1, Robot2 ho2, Robot2 ho3, Robot2 ho4,
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Robot2 ho5, Robot2 ho6, Robot2 ho7, Robot2 ho8, Robot2 ho9,
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Robot2 ho10, Robot2 hgo, Robot3 opp) {
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if (m_nGameArea == GAME_RIGHT) {
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ball.position = bal.position;
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ball.oldPosition = bal.oldPosition;
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ball.angle = bal.angle;
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home1.position = ho1.position;
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home1.oldPosition = ho1.oldPosition;
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home1.angle = ho1.angle;
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home2.position = ho2.position;
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home2.oldPosition = ho2.oldPosition;
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home2.angle = ho2.angle;
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home3.position = ho3.position;
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home3.oldPosition = ho3.oldPosition;
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home3.angle = ho3.angle;
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home4.position = ho4.position;
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home4.oldPosition = ho4.oldPosition;
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home4.angle = ho4.angle;
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home5.position = ho5.position;
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home5.oldPosition = ho5.oldPosition;
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home5.angle = ho5.angle;
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home6.position = ho6.position;
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home6.oldPosition = ho6.oldPosition;
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home6.angle = ho6.angle;
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home7.position = ho7.position;
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home7.oldPosition = ho7.oldPosition;
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home7.angle = ho7.angle;
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home8.position = ho8.position;
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home8.oldPosition = ho8.oldPosition;
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home8.angle = ho8.angle;
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home9.position = ho9.position;
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home9.oldPosition = ho9.oldPosition;
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home9.angle = ho9.angle;
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home10.position = ho10.position;
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home10.oldPosition = ho10.oldPosition;
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home10.angle = ho10.angle;
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hgoalie.position = hgo.position;
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hgoalie.oldPosition = hgo.oldPosition;
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hgoalie.angle = hgo.angle;
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opponent.position1 = opp.position1;
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opponent.oldPosition1 = opp.oldPosition1;
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opponent.position2 = opp.position2;
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opponent.oldPosition2 = opp.oldPosition2;
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opponent.position3 = opp.position3;
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opponent.oldPosition3 = opp.oldPosition3;
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opponent.position4 = opp.position4;
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opponent.oldPosition4 = opp.oldPosition4;
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opponent.position5 = opp.position5;
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opponent.oldPosition5 = opp.oldPosition5;
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opponent.position6 = opp.position6;
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opponent.oldPosition6 = opp.oldPosition6;
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opponent.position7 = opp.position7;
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opponent.oldPosition7 = opp.oldPosition7;
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opponent.position8 = opp.position8;
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opponent.oldPosition8 = opp.oldPosition8;
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opponent.position9 = opp.position9;
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opponent.oldPosition9 = opp.oldPosition9;
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opponent.position10 = opp.position10;
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opponent.oldPosition10 = opp.oldPosition10;
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opponent.position11 = opp.position11;
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opponent.oldPosition11 = opp.oldPosition11;
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}
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else {
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ball.position.x = 1030 - bal.position.x;
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ball.oldPosition.x = 1030 - bal.oldPosition.x;
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ball.position.y = 818 - bal.position.y;
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ball.oldPosition.y = 818 - bal.oldPosition.y;
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if (ball.angle > 0)
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ball.angle = bal.angle - 180;
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else
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ball.angle = 180 + bal.angle;
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home1.position.x = 1030 - ho1.position.x;
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home1.oldPosition.x = 1030 - ho1.oldPosition.x;
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home1.position.y = 818 - ho1.position.y;
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home1.oldPosition.y = 818 - ho1.oldPosition.y;
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if (home1.angle > 0)
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home1.angle = ho1.angle - 180;
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else
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home1.angle = 180 + ho1.angle;
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home2.position.x = 1030 - ho2.position.x;
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home2.oldPosition.x = 1030 - ho2.oldPosition.x;
|
|
home2.position.y = 818 - ho2.position.y;
|
|
home2.oldPosition.y = 818 - ho2.oldPosition.y;
|
|
if (home2.angle > 0)
|
|
home2.angle = ho2.angle - 180;
|
|
else
|
|
home2.angle = 180 + ho2.angle;
|
|
home3.position.x = 1030 - ho3.position.x;
|
|
home3.oldPosition.x = 1030 - ho3.oldPosition.x;
|
|
home3.position.y = 818 - ho3.position.y;
|
|
home3.oldPosition.y = 818 - ho3.oldPosition.y;
|
|
if (home3.angle > 0)
|
|
home3.angle = ho3.angle - 180;
|
|
else
|
|
home3.angle = 180 + ho3.angle;
|
|
home4.position.x = 1030 - ho4.position.x;
|
|
home4.oldPosition.x = 1030 - ho4.oldPosition.x;
|
|
home4.position.y = 818 - ho4.position.y;
|
|
home4.oldPosition.y = 818 - ho4.oldPosition.y;
|
|
if (home4.angle > 0)
|
|
home4.angle = ho4.angle - 180;
|
|
else
|
|
home4.angle = 180 + ho4.angle;
|
|
home5.position.x = 1030 - ho5.position.x;
|
|
home5.oldPosition.x = 1030 - ho5.oldPosition.x;
|
|
home5.position.y = 818 - ho5.position.y;
|
|
home5.oldPosition.y = 818 - ho5.oldPosition.y;
|
|
if (home5.angle > 0)
|
|
home5.angle = ho5.angle - 180;
|
|
else
|
|
home5.angle = 180 + ho5.angle;
|
|
//*/
|
|
home6.position.x = 1030 - ho6.position.x;
|
|
home6.oldPosition.x = 1030 - ho6.oldPosition.x;
|
|
home6.position.y = 818 - ho6.position.y;
|
|
home6.oldPosition.y = 818 - ho6.oldPosition.y;
|
|
///*
|
|
if (home6.angle > 0)
|
|
home6.angle = ho6.angle - 180;
|
|
else
|
|
home6.angle = 180 + ho6.angle;
|
|
//*/
|
|
home7.position.x = 1030 - ho7.position.x;
|
|
home7.oldPosition.x = 1030 - ho7.oldPosition.x;
|
|
home7.position.y = 818 - ho7.position.y;
|
|
home7.oldPosition.y = 818 - ho7.oldPosition.y;
|
|
///*
|
|
if (home7.angle > 0)
|
|
home7.angle = ho7.angle - 180;
|
|
else
|
|
home7.angle = 180 + ho7.angle;
|
|
//*/
|
|
home8.position.x = 1030 - ho8.position.x;
|
|
home8.oldPosition.x = 1030 - ho8.oldPosition.x;
|
|
home8.position.y = 818 - ho8.position.y;
|
|
home8.oldPosition.y = 818 - ho8.oldPosition.y;
|
|
///*
|
|
if (home8.angle > 0)
|
|
home8.angle = ho8.angle - 180;
|
|
else
|
|
home8.angle = 180 + ho8.angle;
|
|
//*/
|
|
home9.position.x = 1030 - ho9.position.x;
|
|
home9.oldPosition.x = 1030 - ho9.oldPosition.x;
|
|
home9.position.y = 818 - ho9.position.y;
|
|
home9.oldPosition.y = 818 - ho9.oldPosition.y;
|
|
///*
|
|
if (home9.angle > 0)
|
|
home9.angle = ho9.angle - 180;
|
|
else
|
|
home9.angle = 180 + ho9.angle;
|
|
//*/
|
|
home10.position.x = 1030 - ho10.position.x;
|
|
home10.oldPosition.x = 1030 - ho10.oldPosition.x;
|
|
home10.position.y = 818 - ho10.position.y;
|
|
home10.oldPosition.y = 818 - ho10.oldPosition.y;
|
|
///*
|
|
if (home10.angle > 0)
|
|
home10.angle = ho10.angle - 180;
|
|
else
|
|
home10.angle = 180 + ho10.angle;
|
|
//*/
|
|
hgoalie.position.x = 1030 - hgo.position.x;
|
|
hgoalie.oldPosition.x = 1030 - hgo.oldPosition.x;
|
|
hgoalie.position.y = 818 - hgo.position.y;
|
|
hgoalie.oldPosition.y = 818 - hgo.oldPosition.y;
|
|
///*
|
|
if (hgoalie.angle > 0)
|
|
hgoalie.angle = hgo.angle - 180;
|
|
else
|
|
hgoalie.angle = 180 + hgo.angle;
|
|
//*/
|
|
opponent.position1.x = 1030 - opp.position1.x;
|
|
opponent.oldPosition1.x = 1030 - opp.oldPosition1.x;
|
|
opponent.position2.x = 1030 - opp.position2.x;
|
|
opponent.oldPosition2.x = 1030 - opp.oldPosition2.x;
|
|
opponent.position3.x = 1030 - opp.position3.x;
|
|
opponent.oldPosition3.x = 1030 - opp.oldPosition3.x;
|
|
opponent.position4.x = 1030 - opp.position4.x;
|
|
opponent.oldPosition4.x = 1030 - opp.oldPosition4.x;
|
|
opponent.position5.x = 1030 - opp.position5.x;
|
|
opponent.oldPosition5.x = 1030 - opp.oldPosition5.x;
|
|
opponent.position6.x = 1030 - opp.position6.x;
|
|
opponent.oldPosition6.x = 1030 - opp.oldPosition6.x;
|
|
opponent.position7.x = 1030 - opp.position7.x;
|
|
opponent.oldPosition7.x = 1030 - opp.oldPosition7.x;
|
|
opponent.position8.x = 1030 - opp.position8.x;
|
|
opponent.oldPosition8.x = 1030 - opp.oldPosition8.x;
|
|
opponent.position9.x = 1030 - opp.position9.x;
|
|
opponent.oldPosition9.x = 1030 - opp.oldPosition9.x;
|
|
opponent.position10.x = 1030 - opp.position10.x;
|
|
opponent.oldPosition10.x = 1030 - opp.oldPosition10.x;
|
|
opponent.position11.x = 1030 - opp.position11.x;
|
|
opponent.oldPosition11.x = 1030 - opp.oldPosition11.x;
|
|
|
|
opponent.position1.y = 818 - opp.position1.y;
|
|
opponent.oldPosition1.y = 818 - opp.oldPosition1.y;
|
|
opponent.position2.y = 818 - opp.position2.y;
|
|
opponent.oldPosition2.y = 818 - opp.oldPosition2.y;
|
|
opponent.position3.y = 818 - opp.position3.y;
|
|
opponent.oldPosition3.y = 818 - opp.oldPosition3.y;
|
|
opponent.position4.y = 818 - opp.position4.y;
|
|
opponent.oldPosition4.y = 818 - opp.oldPosition4.y;
|
|
opponent.position5.y = 818 - opp.position5.y;
|
|
opponent.oldPosition5.y = 818 - opp.oldPosition5.y;
|
|
opponent.position6.y = 818 - opp.position6.y;
|
|
opponent.oldPosition6.y = 818 - opp.oldPosition6.y;
|
|
opponent.position7.y = 818 - opp.position7.y;
|
|
opponent.oldPosition7.y = 818 - opp.oldPosition7.y;
|
|
opponent.position8.y = 818 - opp.position8.y;
|
|
opponent.oldPosition8.y = 818 - opp.oldPosition8.y;
|
|
opponent.position9.y = 818 - opp.position9.y;
|
|
opponent.oldPosition9.y = 818 - opp.oldPosition9.y;
|
|
opponent.position10.y = 818 - opp.position10.y;
|
|
opponent.oldPosition10.y = 818 - opp.oldPosition10.y;
|
|
opponent.position11.y = 818 - opp.position11.y;
|
|
opponent.oldPosition11.y = 818 - opp.oldPosition11.y;
|
|
}
|
|
}
|
|
|
|
CStrategySystem::CStrategySystem(int id) {
|
|
m_OurTeam = id;
|
|
boundRect.SetRect(65, 95, 965, 723);
|
|
if (id)
|
|
m_nGameArea = GAME_LEFT;
|
|
else
|
|
m_nGameArea = GAME_RIGHT;
|
|
for (int i = 0; i < 35; i++)
|
|
command[i] = 0;
|
|
C_Home1.Data.Lv = 0;
|
|
C_Home1.Data.Rv = 0;
|
|
C_Home1.Data.Command = C_STOP;
|
|
C_Home2.Data.Lv = 0;
|
|
C_Home2.Data.Rv = 0;
|
|
C_Home2.Data.Command = C_STOP;
|
|
C_Home3.Data.Lv = 0;
|
|
C_Home3.Data.Rv = 0;
|
|
C_Home3.Data.Command = C_STOP;
|
|
C_Home4.Data.Lv = 0;
|
|
C_Home4.Data.Rv = 0;
|
|
C_Home4.Data.Command = C_STOP;
|
|
C_Home5.Data.Lv = 0;
|
|
C_Home5.Data.Rv = 0;
|
|
C_Home5.Data.Command = C_STOP;
|
|
C_Home6.Data.Lv = 0;
|
|
C_Home6.Data.Rv = 0;
|
|
C_Home6.Data.Command = C_STOP;
|
|
C_Home7.Data.Lv = 0;
|
|
C_Home7.Data.Rv = 0;
|
|
C_Home7.Data.Command = C_STOP;
|
|
C_Home8.Data.Lv = 0;
|
|
C_Home8.Data.Rv = 0;
|
|
C_Home8.Data.Command = C_STOP;
|
|
C_Home9.Data.Lv = 0;
|
|
C_Home9.Data.Rv = 0;
|
|
C_Home9.Data.Command = C_STOP;
|
|
C_Home10.Data.Lv = 0;
|
|
C_Home10.Data.Rv = 0;
|
|
C_Home10.Data.Command = C_STOP;
|
|
C_Home11.Data.Lv = 0;
|
|
C_Home11.Data.Rv = 0;
|
|
C_Home11.Data.Command = C_STOP;
|
|
|
|
m_nStrategy = id; // left = 0, right = 1
|
|
nKick = 0;
|
|
nKick2 = 0;
|
|
nShoot = 0;
|
|
nSweep = 0;
|
|
}
|
|
|
|
// CStrategySystem::~CStrategySystem() {
|
|
// }
|