2368 lines
73 KiB
C++
2368 lines
73 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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// srand(time(nullptr));
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// int x = rand() % 2;
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// // 简单直线函数点球，向上射终点为（60，313），向下射终点为（60，505）；
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// int k, b;
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// // 1往上射
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// if (x) {
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// k = (ball.position.y - 313) / (ball.position.x - 60);
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// b = 313 - 60 * k;
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// if (home1.position.x <= (ball.position.x + 16) && home1.position.x >= (ball.position.x + 16 - 1) && home1.position.y >= ((ball.position.x + 16) * k + b) - 1 && home1.position.y <= (ball.position.x + 16) * k + b)
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// Direction(HOME1, ball.position); // 跟踪球射门
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// else
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// Position(HOME1, CPoint(ball.position.x + 16 /*球每次更新位置，则将机器人放到函数直线上与球不同位置上，下一周期在踢球*/, (ball.position.x + 16) * k + b)); // 机器人最开始不在范围，则移动到指定位置
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// }
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// // 往下射
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// else {
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// k = (ball.position.y - 505) / (ball.position.x - 60);
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// b = 505 - 60 * k;
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// if (home1.position.x <= (ball.position.x + 16) && home1.position.x >= (ball.position.x + 16) - 1 && home1.position.y >= ((ball.position.x + 16) * k + b) - 1 && home1.position.y <= (ball.position.x + 16) * k + b)
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// Direction(HOME1, ball.position); // 跟踪球射门
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// else
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// Position(HOME1, CPoint(ball.position.x + 16, /*球每次更新位置，则将机器人放到函数直线上与球不同位置上，下一周期在踢球*/ (ball.position.x + 16) * k + b)); // 机器人最开始不在范围，则移动到指定位置
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// }
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// }
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/*
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void CStrategySystem::Penalty() {
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srand(time(nullptr));
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int x = rand() % 2;
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if (ball.position.y < 410) {
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if (Distance(home1.position, ball.position) > 15) {
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Position(HOME1, CPoint(28, 313));
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}
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else {
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Position(HOME1, CPoint(60, 313));
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}
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}
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else if (ball.position.y > 410) {
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if (Distance(home1.position, ball.position)>15) {
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Position(HOME1, CPoint(28, 505));
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}
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else {
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Position(HOME1, CPoint(60, 505));
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}
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}else if (ball.position.y == 410) {
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if (x) {
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Position(HOME1, CPoint(60, 313));
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}
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else {
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Position(HOME1, CPoint(60, 313));
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}
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}
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}*/
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/* void CStrategySystem::Penalty() {
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srand(time(nullptr));
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int x = rand() % 2;
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if (x) {
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if (Distance(home1.position, ball.position) > 15) {
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Position(HOME1, CPoint(28, 313));
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}
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else {
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Position(HOME1, CPoint(60, 313));
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}
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}
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else {
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if (Distance(home1.position, ball.position) > 15) {
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Position(HOME1, CPoint(28, 505));
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}
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else {
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Position(HOME1, CPoint(60, 505));
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}
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}
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}*/
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// void CStrategySystem::Penalty() {
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// srand(time(nullptr));
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// int x = rand() % 2;
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// if (x) {
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// Position(HOME1, CPoint(60, 313));
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// }
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// else {
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// Position(HOME1, CPoint(60, 505));
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// }
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// }
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// void CStrategySystem::Penalty() {
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// if (home1.position.y < ball.position.y) {
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// if (-home1.position.y != (-ball.position.y + 505) / (ball.position.x - 60) * (ball.position.x + 10) + (-505 - ((-ball.position.y + 505) / (ball.position.x - 60) * (ball.position.x + 10)))) {
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// Position(HOME1, CPoint(ball.position.x + 10, -((-ball.position.y + 505) / (ball.position.x - 60) * (ball.position.x + 10) + (-505 - (-ball.position.y + 505) / (ball.position.x - 60) * (ball.position.x + 10)))));
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// }
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// Position(HOME1, CPoint(ball.position.x - 234, ball.position.y + 100));
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// }
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// else if (home1.position.y == ball.position.y) {
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// Position(HOME1, CPoint(ball.position.x - 234, ball.position.y));
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// }
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// else {
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// if (-home1.position.y != (-ball.position.y + 303) / (ball.position.x - 60) * (ball.position.x + 10) + (-303 - ((-ball.position.y + 303) / (ball.position.x - 60) * (ball.position.x + 10)))) {
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// Position(HOME1, CPoint(ball.position.x - 234, -(-ball.position.y + 303) / (ball.position.x - 60) * (ball.position.x + 10) + (-303 - ((-ball.position.y + 303) / (ball.position.x - 60) * (ball.position.x + 10)))));
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// }
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// Position(HOME1, CPoint(ball.position.x - 234, ball.position.y + 100));
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// }
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// }
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// void CStrategySystem::Penalty() {
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// srand(time(nullptr));
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// int x = rand() % 2;
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// if (x) {
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// if ((home1.position.x > ball.position.x + 24 + 1) || (home1.position.x < ball.position.x + 24 - 1) || (home1.position.y > ball.position.y + 10 + 1) || (home1.position.y > ball.position.y + 10 - 1)) {
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// Position(HOME1, CPoint(ball.position.x + 24, ball.position.y + 10));
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// }
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// Position(HOME1, CPoint(ball.position.x - 233, ball.position.y - 97));
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// // else {
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// // //Position(HOME1, CPoint(36.5, 313));
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// //
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// // }
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// }
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// else {
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// if ((home1.position.x > ball.position.x + 24 + 1) || (home1.position.x < ball.position.x + 24 - 1) || (home1.position.y > ball.position.y - 10 + 1) || (home1.position.y > ball.position.y - 10 - 1)) {
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// Position(HOME1, CPoint(ball.position.x + 24, ball.position.y - 10));
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// }
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// Position(HOME1, CPoint(ball.position.x - 228, ball.position.y + 95));
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// // else {
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// // //Position(HOME1, CPoint(41.5, 505));
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// // }
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// }
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// }
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// void CStrategySystem::Penalty() {
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// if (home1.position.y < ball.position.y) {
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// Position(HOME1, CPoint(ball.position.x - 234, ball.position.y + 100));
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// }
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// else if (home1.position.y == ball.position.y) {
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// Position(HOME1, CPoint(ball.position.x - 234, ball.position.y));
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// }
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// else {
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// Position(HOME1, CPoint(ball.position.x - 234, ball.position.y - 100));
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// }
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// // Direction(HOME2, ball.position);
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// // Direction(HOME3, ball.position);
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// // Direction(HOME4, ball.position);
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// // Direction(HOME5, ball.position);
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// // Direction(HOME6, ball.position);
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// // Direction(HOME7, ball.position);
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// // Direction(HOME8, ball.position);
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// // Direction(HOME9, ball.position);
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// // Direction(HOME10, ball.position);
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// }
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void CStrategySystem::Penalty() {
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srand(time(nullptr));
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int x = rand() % 2;
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int d = 21;
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static bool faceR;
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Direction(HOME1, CPoint(ball.position.x + 104, ball.position.y));
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if (x) {
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if (Distance(home1.position, ball.position) > d) {
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Direction(HOME1, ball.position);
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faceR = fabs(home1.angle) > 90;
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}
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else {
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// flag = false;
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double r = Distance(home1.position, ball.position) / (2 * (sin(atwo(home1.pos.x, home1.pos.y, ball.position.x, ball.position.y, ball.position.x, ball.position.y, 28, 505)))); // 求曲线行驶时轨迹的半径
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int lw = (r - 3) / (r + 5) * 127;
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if (faceR)
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Velocity(1, lw, 127);
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else
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Velocity(1, -127, -lw);
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}
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}
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else {
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if (Distance(home1.position, ball.position) > d) {
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Direction(HOME1, ball.position);
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faceR = fabs(home1.angle) > 90;
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}
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else {
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// flag = false;
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double r = Distance(home1.position, ball.position) / (2 * (sin(atwo(home1.pos.x, home1.pos.y, ball.position.x, ball.position.y, ball.position.x, ball.position.y, 28, 313))));
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int rw = r / (r + 3) * 127;
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if (!faceR)
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Velocity(1, -rw, -127);
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else
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Velocity(1, 127, rw);
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}
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}
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}
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// 争球
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void CStrategySystem::Freeball() {
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int d = 21;
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static bool faceR;
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if (Status() == 2) { // 左上
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if (Distance(home3.position, ball.position) > d && flag) {
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Direction(HOME3, ball.position);
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faceR = fabs(home3.angle) > 90;
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}
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else {
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flag = false;
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double r = Distance(home3.position, ball.position) / (2 * (sin(atwo(home3.pos.x, home3.pos.y, ball.position.x, ball.position.y, ball.position.x, ball.position.y, 28, 505)))); // 求曲线行驶时轨迹的半径
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int lw = (r - 8) / (r + 5) * 127;
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if (faceR)
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Velocity(3, lw, 127);
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else
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Velocity(3, -127, -lw);
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}
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Direction(HOME1, ball.position);
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Direction(HOME2, ball.position);
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Direction(HOME4, ball.position);
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Direction(HOME5, ball.position);
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Direction(HOME6, ball.position);
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Direction(HOME7, ball.position);
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Direction(HOME8, ball.position);
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Direction(HOME9, ball.position);
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Direction(HOME10, ball.position);
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}
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else if (Status() == 3) { // 左下
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if (Distance(home1.position, ball.position) > d && flag) {
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Direction(HOME1, ball.position);
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faceR = fabs(home1.angle) > 90;
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}
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else {
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flag = false;
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double r = Distance(home1.position, ball.position) / (2 * (sin(atwo(home1.pos.x, home1.pos.y, ball.position.x, ball.position.y, ball.position.x, ball.position.y, 28, 313))));
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int rw = (r - 5) / (r + 5) * 127;
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if (!faceR)
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Velocity(1, -rw, -127);
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else
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Velocity(1, 127, rw);
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}
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Direction(HOME2, ball.position);
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Direction(HOME3, ball.position);
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Direction(HOME4, ball.position);
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Direction(HOME5, ball.position);
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Direction(HOME6, ball.position);
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Direction(HOME7, ball.position);
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Direction(HOME8, ball.position);
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Direction(HOME9, ball.position);
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Direction(HOME10, ball.position);
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}
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else if (Status() == 4) { // 右上
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if (Distance(home10.position, ball.position) > d && flag) {
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Direction(HOME10, ball.position);
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faceR = fabs(home10.angle) > 90;
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}
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else {
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flag = false;
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double r = Distance(home10.position, ball.position) / (2 * (sin(atwo(home10.pos.x, home10.pos.y, ball.position.x, ball.position.y, ball.position.x, ball.position.y, 515, 95))));
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int rw = (r - 5) / (r + 5) * 127;
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if (faceR)
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Velocity(10, -rw, -127);
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else
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Velocity(10, 127, rw);
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}
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Direction(HOME1, ball.position);
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Direction(HOME2, ball.position);
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Direction(HOME3, ball.position);
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Direction(HOME4, ball.position);
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Direction(HOME5, ball.position);
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Direction(HOME6, ball.position);
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Direction(HOME7, ball.position);
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Direction(HOME8, ball.position);
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Direction(HOME9, ball.position);
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}
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else if (Status() == 5) { // 右下
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if (Distance(home7.position, ball.position) > d && flag) {
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Direction(HOME7, ball.position);
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faceR = fabs(home7.angle) > 90;
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}
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else {
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flag = false;
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double r = Distance(home7.position, ball.position) / (2 * (sin(atwo(home7.pos.x, home7.pos.y, ball.position.x, ball.position.y, ball.position.x, ball.position.y, 515, 723))));
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int lw = (r - 5) / (r + 5) * 127;
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if (faceR)
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Velocity(10, -127, -lw);
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else
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Velocity(10, lw, 127);
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}
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Direction(HOME1, ball.position);
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Direction(HOME2, ball.position);
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Direction(HOME3, ball.position);
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Direction(HOME4, ball.position);
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Direction(HOME5, ball.position);
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Direction(HOME6, ball.position);
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Direction(HOME8, ball.position);
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Direction(HOME9, ball.position);
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Direction(HOME10, ball.position);
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}
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}
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double CStrategySystem::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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{
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double j = 0;
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double k1 = (y1 - y2) / (x1 - x2);
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double k2 = (y3 - y4) / (x3 - x4);
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j = atan(fabs((k2 - k1) / (1 + k1 * k2)));
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return j;
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}
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void CStrategySystem::spin(int which, bool isClockwise) { // 自旋
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if (isClockwise)
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Velocity(which, 127, -127);
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else
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Velocity(which, -127, 127);
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}
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// 射门
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void CStrategySystem::Shot(int which, bool de) // 0向下门框射
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{
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Robot2 *robot;
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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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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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t1.y = ball.position.y;
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if (de == 0) {
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t4.x = 33.0;
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t4.y = 505.0;
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O = atan(fabs(ball.position.y - t4.y) / fabs(ball.position.x - t4.x)); // fabs(Angle(,t4));
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O1 = 180 - O;
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t3.x = t1.x + cos(O) * 34;
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t3.y = t1.y - sin(O) * 34;
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}
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else if (de == 1) {
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t4.x = 33.0;
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t4.y = 313.0;
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O = atan(fabs(ball.position.y - t4.y) / fabs(ball.position.x - t4.x)); // fabs(Angle(ball.position,t4));
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O1 = 180 + O;
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t3.x = t1.x + cos(O) * 34;
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t3.y = t1.y + sin(O) * 34;
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}
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if (Distance(robot->position, ball.position) <= 35 && (fabs(Angle(ball.position, t3) - Angle(robot->position, t3))) <= 2) {
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if (de == 1) {
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t3.x = t1.x - cos(O) * 34;
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t3.y = t1.y - sin(O) * 34;
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Direction(which, t3);
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}
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else if (de == 0) {
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t3.x = t1.x - cos(O) * 34;
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t3.y = t1.y + sin(O) * 34;
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Direction(which, t3);
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}
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}
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else
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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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bool CStrategySystem::Canshot() // 射？
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{
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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;
|
||
// 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);
|
||
// }
|
||
}
|
||
void CStrategySystem::Shot(int which, bool de, CPoint t) // 把球向t点射,de向上还是向下射
|
||
{
|
||
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;
|
||
}
|
||
double O, O1;
|
||
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;
|
||
t1.y = ball.position.y;
|
||
if (de == 0) {
|
||
O = atan(fabs(ball.position.y - t.y) / fabs(ball.position.x - t.x));
|
||
O1 = 180 - O;
|
||
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));
|
||
O1 = 180 + O;
|
||
t3.x = t1.x + cos(O) * 34;
|
||
t3.y = t1.y + sin(O) * 34;
|
||
}
|
||
if (Distance(robot->position, ball.position) <= 35 && (fabs(Angle(ball.position, t3) - Angle(robot->position, t3))) <= 2) {
|
||
if (de == 1) {
|
||
t3.x = t1.x - cos(O) * 34;
|
||
t3.y = t1.y - sin(O) * 34;
|
||
Direction(which, t3);
|
||
}
|
||
else if (de == 0) {
|
||
t3.x = t1.x - cos(O) * 34;
|
||
t3.y = t1.y + sin(O) * 34;
|
||
Direction(which, t3);
|
||
}
|
||
}
|
||
else
|
||
Position(which, t3); // 机器人到足够近的点t3
|
||
}
|
||
void CStrategySystem::shot1(int which, double o, CPoint t) { // 直射
|
||
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
|
||
{
|
||
Robot2 *robot;
|
||
switch (which) {
|
||
case HOME9:
|
||
robot = &home9;
|
||
break;
|
||
case HOME10:
|
||
robot = &home10;
|
||
break;
|
||
}
|
||
CPoint t1, t2;//t1球
|
||
t1.x = ball.position.x;
|
||
t1.y = ball.position.y;
|
||
t2.x = robot->position.x;
|
||
t2.y = robot->position.y;
|
||
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）
|
||
{
|
||
CPoint robot[11];
|
||
robot[1] = home1.position;
|
||
robot[2] = home2.position;
|
||
robot[3] = home3.position;
|
||
robot[4] = home4.position;
|
||
robot[5] = home5.position;
|
||
robot[6] = home6.position;
|
||
robot[7] = home7.position;
|
||
robot[8] = home8.position;
|
||
robot[9] = home9.position;
|
||
robot[10] = home10.position;
|
||
/*double d[11];
|
||
d[1] = Distance(ball.position, home1.position);
|
||
d[2] = Distance(ball.position, home2.position);
|
||
d[3] = Distance(ball.position, home3.position);
|
||
d[4] = Distance(ball.position, home4.position);
|
||
d[5] = Distance(ball.position, home5.position);
|
||
d[6] = Distance(ball.position, home6.position);
|
||
d[7] = Distance(ball.position, home7.position);
|
||
d[8] = Distance(ball.position, home8.position);
|
||
d[9] = Distance(ball.position, home9.position);
|
||
d[10] = Distance(ball.position, home10.position);*/
|
||
if (65 < ball.position.x && ball.position.x <= 515) {
|
||
|
||
// 对方罚球区内,包围门框
|
||
if (ball.position.x <= 160 && ball.position.y <= 600 && ball.position.y >= 210) {
|
||
|
||
Navigation[1] = CPoint(175, ball.position.y);
|
||
Navigation[2] = CPoint(175, ball.position.y + 20);
|
||
Navigation[3] = CPoint(175, ball.position.y - 20);
|
||
Navigation[4] = CPoint(200, ball.position.y);
|
||
Navigation[5] = CPoint(175, ball.position.y + 30);
|
||
Navigation[6] = CPoint(200, ball.position.y - 30);
|
||
Navigation[7] = CPoint(ball.position.x, 610);
|
||
Navigation[8] = CPoint(ball.position.x, 210);
|
||
Navigation[9] = CPoint(220, ball.position.y + 50);
|
||
Navigation[10] = CPoint(220, ball.position.y - 50);
|
||
}
|
||
// 对方下半场
|
||
else if (ball.position.y >= 607) {
|
||
if (home1.position.x > ball.position.x) { // 球员在右
|
||
if (home1.position.y > ball.position.y) { // 球员在右下
|
||
Navigation[1] = ball.position;
|
||
}
|
||
else { // 球员在右下
|
||
Navigation[1] = CPoint(ball.position.x + 10, ball.position.y + 10);
|
||
}
|
||
}
|
||
else { // 球员在左
|
||
if (home1.position.y > ball.position.y) { // 左下
|
||
Navigation[1] = ball.position;
|
||
}
|
||
else { // 左上
|
||
Navigation[1] = CPoint(ball.position.x - 10, ball.position.y + 10);
|
||
}
|
||
}
|
||
if (home2.position.x > ball.position.x) {
|
||
if (home2.position.y > ball.position.y) {
|
||
Navigation[2] = ball.position;
|
||
}
|
||
else {
|
||
Navigation[2] = CPoint(ball.position.x + 10, ball.position.y + 20);
|
||
}
|
||
}
|
||
else {
|
||
if (home2.position.y > ball.position.y) {
|
||
Navigation[2] = ball.position;
|
||
}
|
||
else {
|
||
Navigation[2] = CPoint(ball.position.x - 10, ball.position.y - 20);
|
||
}
|
||
}
|
||
if (home3.position.x > ball.position.x) {
|
||
if (home3.position.y > ball.position.y) {
|
||
Navigation[3] = ball.position;
|
||
}
|
||
else {
|
||
Navigation[3] = CPoint(ball.position.x + 20, ball.position.y + 10);
|
||
}
|
||
}
|
||
else {
|
||
if (home3.position.y > ball.position.y) {
|
||
Navigation[3] = ball.position;
|
||
}
|
||
else {
|
||
Navigation[3] = CPoint(ball.position.x - 20, ball.position.y - 10);
|
||
}
|
||
}
|
||
Navigation[4] = CPoint(ball.position.x + 50, ball.position.y + 50);
|
||
Navigation[5] = CPoint(ball.position.x + 50, ball.position.y);
|
||
Navigation[6] = CPoint(ball.position.x + 50, ball.position.y - 50);
|
||
Navigation[7] = CPoint(ball.position.x, ball.position.y + 50);
|
||
Navigation[8] = CPoint(ball.position.x - 50, ball.position.y + 50);
|
||
Navigation[9] = CPoint(ball.position.x + 80, ball.position.y);
|
||
Navigation[10] = CPoint(ball.position.x + 80, ball.position.y + 50);
|
||
//// Navigate(ball.position);
|
||
//// 机器人在球右下
|
||
// if (robot->position.y <= ball.position.y && robot->position.x >= ball.position.x) {
|
||
// Direction(which, ball.position);
|
||
// // Velocity(which, 127, 127);
|
||
// }
|
||
//// 机器人在球右上
|
||
// else if (robot->position.y > ball.position.y && robot->position.x > ball.position.x) {
|
||
// Direction(which, CPoint(ball.position.x + 10, ball.position.y));
|
||
// // Velocity(which, vL, vR);
|
||
// }
|
||
//// 机器人在球左上
|
||
// else if (robot->position.y < ball.position.y && robot->position.x < ball.position.x) {
|
||
// // Position(which, CPoint(ball.));
|
||
// }
|
||
//// 机器人在球左下
|
||
// else {
|
||
// Direction(which, CPoint(ball.position.x - 20, ball.position.y));
|
||
// }
|
||
}
|
||
// 对方中场
|
||
else if (ball.position.y >= 217 && ball.position.y < 607) {
|
||
if (home1.position.x > ball.position.x) {
|
||
if (home1.position.y < ball.position.y) {
|
||
Navigation[1] = ball.position;
|
||
}
|
||
else {
|
||
Navigation[1] = CPoint(ball.position.x + 10, ball.position.y - 10);
|
||
}
|
||
}
|
||
else {
|
||
if (home1.position.y < ball.position.y) {
|
||
Navigation[1] = CPoint(ball.position.x, ball.position.y - 10);
|
||
}
|
||
else {
|
||
Navigation[1] = CPoint(ball.position.x - 10, ball.position.y - 10);
|
||
}
|
||
}
|
||
if (home2.position.x > ball.position.x) {
|
||
if (home2.position.y < ball.position.y) {
|
||
Navigation[2] = ball.position;
|
||
}
|
||
else {
|
||
Navigation[2] = CPoint(ball.position.x + 20, ball.position.y + 10);
|
||
}
|
||
}
|
||
else {
|
||
if (home2.position.y < ball.position.y) {
|
||
Navigation[1] = CPoint(ball.position.x, ball.position.y - 15);
|
||
}
|
||
else {
|
||
Navigation[1] = CPoint(ball.position.x - 10, ball.position.y - 15);
|
||
}
|
||
}
|
||
if (home3.position.x > ball.position.x) {
|
||
if (home3.position.y < ball.position.y) {
|
||
Navigation[3] = ball.position;
|
||
}
|
||
else {
|
||
Navigation[3] = CPoint(ball.position.x + 10, ball.position.y + 20);
|
||
}
|
||
}
|
||
else {
|
||
if (home3.position.y < ball.position.y) {
|
||
Navigation[1] = CPoint(ball.position.x + 10, ball.position.y - 15);
|
||
}
|
||
else {
|
||
Navigation[1] = CPoint(ball.position.x - 15, ball.position.y - 10);
|
||
}
|
||
}
|
||
Navigation[4] = CPoint(ball.position.x, ball.position.y - 60);
|
||
Navigation[5] = CPoint(ball.position.x + 50, ball.position.y - 60);
|
||
Navigation[6] = CPoint(ball.position.x + 60, ball.position.y - 50);
|
||
Navigation[7] = CPoint(ball.position.x + 60, ball.position.y + 50);
|
||
Navigation[8] = CPoint(ball.position.x + 60, ball.position.y + 70);
|
||
Navigation[9] = CPoint(ball.position.x + 70, ball.position.y - 60);
|
||
Navigation[10] = CPoint(ball.position.x + 70, ball.position.y - 60);
|
||
//// 机器人在球的右下
|
||
// if (robot->position.x >= ball.position.x && robot->position.y <= ball.position.y) {
|
||
// Direction(which, ball.position);
|
||
// }
|
||
//// 机器人在球右上
|
||
// else if (robot->position.x > ball.position.x && robot->position.y > ball.position.y) {
|
||
// // 右上且距离较远
|
||
// if (robot->position.y >= ball.position.y + 100) {
|
||
// Direction(which, CPoint(ball.position.x + 20, ball.position.y + 20));
|
||
// }
|
||
// // 距离较近
|
||
// else {
|
||
// Direction(which, CPoint(ball.position.x + 10, ball.position.y));
|
||
// }
|
||
// }
|
||
//// 机器人在球左下
|
||
// else if (robot->position.x <= ball.position.x && robot->position.y >= ball.position.y) {
|
||
// Direction(which, CPoint(ball.position.x - 20, ball.position.y + 20));
|
||
// }
|
||
//// 机器人在球左上
|
||
// else {
|
||
// Direction(which, CPoint(ball.position.x - 20, ball.position.y - 20));
|
||
// }
|
||
}
|
||
// 上场
|
||
else {
|
||
if (home1.position.x > ball.position.x) {
|
||
if (home1.position.y < ball.position.y) {
|
||
Navigation[1] = ball.position;
|
||
}
|
||
else {
|
||
Navigation[1] = CPoint(ball.position.x + 10, ball.position.y - 10);
|
||
}
|
||
}
|
||
else {
|
||
if (home1.position.y < ball.position.y) {
|
||
Navigation[1] = CPoint(ball.position.x, ball.position.y - 10);
|
||
}
|
||
else {
|
||
Navigation[1] = CPoint(ball.position.x - 10, ball.position.y - 10);
|
||
}
|
||
}
|
||
if (home2.position.x > ball.position.x) {
|
||
if (home2.position.y < ball.position.y) {
|
||
Navigation[2] = ball.position;
|
||
}
|
||
else {
|
||
Navigation[2] = CPoint(ball.position.x + 10, ball.position.y);
|
||
}
|
||
}
|
||
else {
|
||
if (home2.position.y < ball.position.y) {
|
||
Navigation[2] = CPoint(ball.position.x - 5, ball.position.y - 10);
|
||
}
|
||
else {
|
||
Navigation[2] = CPoint(ball.position.x - 10, ball.position.y - 10);
|
||
}
|
||
}
|
||
if (home3.position.x > ball.position.x) {
|
||
if (home3.position.y < ball.position.y) {
|
||
Navigation[3] = ball.position;
|
||
}
|
||
else {
|
||
Navigation[3] = CPoint(ball.position.x + 10, ball.position.y - 15);
|
||
}
|
||
}
|
||
else {
|
||
if (home2.position.y < ball.position.y) {
|
||
Navigation[3] = CPoint(ball.position.x - 5, ball.position.y - 10);
|
||
}
|
||
else {
|
||
Navigation[3] = CPoint(ball.position.x - 10, ball.position.y - 10);
|
||
}
|
||
}
|
||
Navigation[4] = CPoint(ball.position.x - 50, ball.position.y - 50);
|
||
Navigation[5] = CPoint(ball.position.x, ball.position.y - 50);
|
||
Navigation[6] = CPoint(ball.position.x + 50, ball.position.y - 50);
|
||
Navigation[7] = CPoint(ball.position.x + 50, ball.position.y);
|
||
Navigation[8] = CPoint(ball.position.x + 60, ball.position.y + 50);
|
||
Navigation[9] = CPoint(ball.position.x + 70, ball.position.y + 60);
|
||
Navigation[10] = CPoint(ball.position.x + 70, ball.position.y + 70);
|
||
// 机器人在球右上
|
||
// if (robot->position.x >= ball.position.x && robot->position.y <= ball.position.y) {
|
||
// Direction(which, ball.position);
|
||
//}
|
||
//// 机器人在球右下
|
||
// else if (robot->position.x >= ball.position.x && robot->position.y > ball.position.y) {
|
||
// Direction(which, CPoint(ball.position.x + 20, ball.position.y));
|
||
// }
|
||
//// 机器人在球左上
|
||
// else if (robot->position.x < ball.position.x && robot->position.y >= ball.position.y) {
|
||
// Direction(which, CPoint(ball.position.x - 20, ball.position.y));
|
||
// }
|
||
//// 机器人在左下
|
||
// else {
|
||
// }
|
||
}
|
||
}
|
||
// 防守区域(在己方罚球区外)
|
||
else if (ball.position.x > 515 && ball.position.x < 965) {
|
||
CPoint goal;
|
||
double l;
|
||
|
||
// 己方上半场
|
||
goal.x = ball.position.x;
|
||
goal.y = 95;
|
||
l = Distance(ball.position, goal);
|
||
if (ball.position.y < 217 && ball.position.y >= 95) {
|
||
Navigation[1].x = ball.position.x;
|
||
Navigation[1].y = 95 + (int)l + 5;
|
||
Navigation[2].x = ball.position.x - (int)sin(15.0 * PI / 180.0) * ((int)l + 5);
|
||
Navigation[2].y = 95 + (int)cos(15.0 * PI / 180.0) * ((int)l + 5);
|
||
Navigation[3].x = ball.position.x + (int)sin(15.0 * PI / 180.0) * ((int)l + 5);
|
||
Navigation[3].y = 95 + (int)cos(15.0 * PI / 180.0) * ((int)l + 5);
|
||
Navigation[4].x = ball.position.x;
|
||
Navigation[4].y = 95 + (int)l + 15;
|
||
Navigation[5].x = ball.position.x - (int)sin(25.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[5].y = 95 + (int)cos(25.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[6].x = ball.position.x + (int)sin(25.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[6].y = 95 + (int)cos(25.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[7].x = ball.position.x - (int)sin(45.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[7].y = 95 + (int)cos(45.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[8].x = ball.position.x + (int)sin(45.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[8].y = 95 + (int)cos(45.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[9].x = ball.position.x - (int)sin(30.0 * PI / 180.0) * ((int)l + 25);
|
||
Navigation[9].y = 95 + (int)cos(30.0 * PI / 180.0) * ((int)l + 25);
|
||
Navigation[10].x = ball.position.x + (int)sin(30.0 * PI / 180.0) * ((int)l + 25);
|
||
Navigation[10].y = 95 + (int)cos(30.0 * PI / 180.0) * ((int)l + 25);
|
||
}
|
||
// 己方中场
|
||
else if (ball.position.y > 217 && ball.position.y <= 607) {
|
||
// 球在中场上侧，要把球往上压
|
||
if (ball.position.y < 409) {
|
||
Navigation[1].x = ball.position.x;
|
||
Navigation[1].y = 95 + (int)l + 5;
|
||
Navigation[2].x = ball.position.x - (int)sin(15.0 * PI / 180.0) * ((int)l + 5);
|
||
Navigation[2].y = 95 + (int)cos(15.0 * PI / 180.0) * ((int)l + 5);
|
||
Navigation[3].x = ball.position.x + (int)sin(15.0 * PI / 180.0) * ((int)l + 5);
|
||
Navigation[3].y = 95 + (int)cos(15.0 * PI / 180.0) * ((int)l + 5);
|
||
Navigation[4].x = ball.position.x;
|
||
Navigation[4].y = 95 + (int)l + 15;
|
||
Navigation[5].x = ball.position.x - (int)sin(25.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[5].y = 95 + (int)cos(25.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[6].x = ball.position.x + (int)sin(25.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[6].y = 95 + (int)cos(25.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[7].x = ball.position.x - (int)sin(45.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[7].y = 95 + (int)cos(45.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[8].x = ball.position.x + (int)sin(45.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[8].y = 95 + (int)cos(45.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[9].x = ball.position.x - (int)sin(30.0 * PI / 180.0) * ((int)l + 25);
|
||
Navigation[9].y = 95 + (int)cos(30.0 * PI / 180.0) * ((int)l + 25);
|
||
Navigation[10].x = ball.position.x + (int)sin(30.0 * PI / 180.0) * ((int)l + 25);
|
||
Navigation[10].y = 95 + (int)cos(30.0 * PI / 180.0) * ((int)l + 25);
|
||
}
|
||
// 球在中场下侧，要把球往下压
|
||
|
||
else {
|
||
goal.x = ball.position.x;
|
||
goal.y = 723;
|
||
l = Distance(ball.position, goal);
|
||
Navigation[1].x = ball.position.x;
|
||
Navigation[1].y = 723 - (int)l - 5;
|
||
Navigation[2].x = ball.position.x - (int)sin(15.0 * PI / 180.0) * ((int)l + 5);
|
||
Navigation[2].y = 723 - (int)cos(15.0 * PI / 180.0) * ((int)l + 5);
|
||
Navigation[3].x = ball.position.x + (int)sin(15.0 * PI / 180.0) * ((int)l + 5);
|
||
Navigation[3].y = 723 - (int)cos(15.0 * PI / 180.0) * ((int)l + 5);
|
||
Navigation[4].x = ball.position.x;
|
||
Navigation[4].y = 723 - (int)l - 15;
|
||
Navigation[5].x = ball.position.x - (int)sin(25.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[5].y = 723 - (int)cos(25.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[6].x = ball.position.x + (int)sin(25.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[6].y = 723 - (int)cos(25.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[7].x = ball.position.x - (int)sin(45.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[7].y = 723 - (int)cos(45.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[8].x = ball.position.x + (int)sin(45.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[8].y = 723 - (int)cos(45.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[9].x = ball.position.x - (int)sin(30.0 * PI / 180.0) * ((int)l + 25);
|
||
Navigation[9].y = 723 - (int)cos(30.0 * PI / 180.0) * ((int)l + 25);
|
||
Navigation[10].x = ball.position.x + (int)sin(30.0 * PI / 180.0) * ((int)l + 25);
|
||
Navigation[10].y = 723 - (int)cos(30.0 * PI / 180.0) * ((int)l + 25);
|
||
}
|
||
}
|
||
// 己方下半场
|
||
|
||
else if (ball.position.y > 607) {
|
||
goal.x = ball.position.x;
|
||
goal.y = 723;
|
||
l = Distance(ball.position, goal);
|
||
Navigation[1].x = ball.position.x;
|
||
Navigation[1].y = 723 - (int)l - 5;
|
||
Navigation[2].x = ball.position.x - (int)sin(15.0 * PI / 180.0) * ((int)l + 5);
|
||
Navigation[2].y = 723 - (int)cos(15.0 * PI / 180.0) * ((int)l + 5);
|
||
Navigation[3].x = ball.position.x + (int)sin(15.0 * PI / 180.0) * ((int)l + 5);
|
||
Navigation[3].y = 723 - (int)cos(15.0 * PI / 180.0) * ((int)l + 5);
|
||
Navigation[4].x = ball.position.x;
|
||
Navigation[4].y = 723 - (int)l - 15;
|
||
Navigation[5].x = ball.position.x - (int)sin(25.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[5].y = 723 - (int)cos(25.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[6].x = ball.position.x + (int)sin(25.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[6].y = 723 - (int)cos(25.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[7].x = ball.position.x - (int)sin(45.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[7].y = 723 - (int)cos(45.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[8].x = ball.position.x + (int)sin(45.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[8].y = 723 - (int)cos(45.0 * PI / 180.0) * ((int)l + 15);
|
||
Navigation[9].x = ball.position.x - (int)sin(30.0 * PI / 180.0) * ((int)l + 25);
|
||
Navigation[9].y = 723 - (int)cos(30.0 * PI / 180.0) * ((int)l + 25);
|
||
Navigation[10].x = ball.position.x + (int)sin(30.0 * PI / 180.0) * ((int)l + 25);
|
||
Navigation[10].y = 723 - (int)cos(30.0 * PI / 180.0) * ((int)l + 25);
|
||
}
|
||
}
|
||
for (int i = 1; i < 11; i++) // 己方禁区处理
|
||
{
|
||
int kx, ky, x1, x2;
|
||
if (Navigation[i].x > 873 && Navigation[i].y < 607 && Navigation[i].y > 217) // 导航定位不进禁区
|
||
{
|
||
if (ball.position.x > 873) {
|
||
if (ball.position.y > 607)
|
||
Navigation[i].y = 607;
|
||
if (ball.position.y < 217)
|
||
Navigation[i].y = 217;
|
||
}
|
||
else {
|
||
Navigation[i].x = 873;
|
||
}
|
||
}
|
||
else if (Navigation[i].x > 873 && Navigation[i].y > 607) // 行走路径不进禁区
|
||
{
|
||
if (robot[i].x < 873 && robot[i].y < 607 && robot[i].y > 217) {
|
||
ky = abs((Navigation[i].y - robot[i].y) / (Navigation[i].x - robot[i].x));
|
||
x1 = abs((873 - robot[i].x) * ky);
|
||
x2 = abs(607 - robot[i].y);
|
||
if (x2 > x1) {
|
||
Navigation[i].y = robot[i].y + x1;
|
||
Navigation[i].x = 873;
|
||
}
|
||
}
|
||
}
|
||
else if (Navigation[i].x > 873 && Navigation[i].y < 217) {
|
||
if (robot[i].x < 873 && robot[i].y < 607 && robot[i].y > 217) {
|
||
ky = abs((Navigation[i].y - robot[i].y) / (Navigation[i].x - robot[i].x));
|
||
x1 = abs((873 - robot[i].x) * ky);
|
||
x2 = abs(217 - robot[i].y);
|
||
if (x2 > x1) {
|
||
Navigation[i].y = robot[i].y - x1;
|
||
Navigation[i].x = 873;
|
||
}
|
||
}
|
||
}
|
||
else if (Navigation[i].x < 873 && Navigation[i].y > 217) {
|
||
if (robot[i].x > 873 && robot[i].y < 217) {
|
||
kx = abs((Navigation[i].x - robot[i].x) / (Navigation[i].y - robot[i].y));
|
||
x1 = abs((217 - robot[i].y) * kx);
|
||
x2 = abs(873 - robot[i].x);
|
||
if (x2 > x1) {
|
||
Navigation[i].y = 217;
|
||
Navigation[i].x = robot[i].x - x1;
|
||
}
|
||
}
|
||
}
|
||
else if (Navigation[i].x < 873 && Navigation[i].y < 607) {
|
||
if (robot[i].x > 873 && robot[i].y > 607) {
|
||
kx = abs((Navigation[i].x - robot[i].x) / (Navigation[i].y - robot[i].y));
|
||
x1 = abs((607 - robot[i].y) * kx);
|
||
x2 = abs(873 - robot[i].x);
|
||
if (x2 > x1) {
|
||
Navigation[i].y = 607;
|
||
Navigation[i].x = robot[i].x - x1;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
void CStrategySystem::control(int which) {
|
||
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;
|
||
// }
|
||
DirectionSE(which, Navigation[which]);
|
||
}
|
||
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))
|
||
sum++;
|
||
if ((home2.position.x >= 105 && home2.position.x <= 157 && home2.position.y >= 247 && home2.position.y <= 577) || (home2.position.x >= 65 && home2.position.x <= 157 && home2.position.y >= 217 && home2.position.y <= 247) || (home2.position.x >= 65 && home2.position.x <= 157 && home2.position.y >= 577 && home2.position.y <= 607))
|
||
sum++;
|
||
if ((home3.position.x >= 105 && home3.position.x <= 157 && home3.position.y >= 247 && home3.position.y <= 577) || (home3.position.x >= 65 && home3.position.x <= 157 && home3.position.y >= 217 && home3.position.y <= 247) || (home3.position.x >= 65 && home3.position.x <= 157 && home3.position.y >= 577 && home3.position.y <= 607))
|
||
sum++;
|
||
if ((home4.position.x >= 105 && home4.position.x <= 157 && home4.position.y >= 247 && home4.position.y <= 577) || (home4.position.x >= 65 && home4.position.x <= 157 && home4.position.y >= 217 && home4.position.y <= 247) || (home4.position.x >= 65 && home4.position.x <= 157 && home4.position.y >= 577 && home4.position.y <= 607))
|
||
sum++;
|
||
if ((home5.position.x >= 105 && home5.position.x <= 157 && home5.position.y >= 247 && home5.position.y <= 577) || (home5.position.x >= 65 && home5.position.x <= 157 && home5.position.y >= 217 && home5.position.y <= 247) || (home5.position.x >= 65 && home5.position.x <= 157 && home5.position.y >= 577 && home5.position.y <= 607))
|
||
sum++;
|
||
if ((home6.position.x >= 105 && home6.position.x <= 157 && home6.position.y >= 247 && home6.position.y <= 577) || (home6.position.x >= 65 && home6.position.x <= 157 && home6.position.y >= 217 && home6.position.y <= 247) || (home6.position.x >= 65 && home6.position.x <= 157 && home6.position.y >= 577 && home6.position.y <= 607))
|
||
sum++;
|
||
if ((home7.position.x >= 105 && home7.position.x <= 157 && home7.position.y >= 247 && home7.position.y <= 577) || (home7.position.x >= 65 && home7.position.x <= 157 && home7.position.y >= 217 && home7.position.y <= 247) || (home7.position.x >= 65 && home7.position.x <= 157 && home7.position.y >= 577 && home7.position.y <= 607))
|
||
sum++;
|
||
if ((home8.position.x >= 105 && home8.position.x <= 157 && home8.position.y >= 247 && home8.position.y <= 577) || (home8.position.x >= 65 && home8.position.x <= 157 && home8.position.y >= 217 && home8.position.y <= 247) || (home8.position.x >= 65 && home8.position.x <= 157 && home8.position.y >= 577 && home8.position.y <= 607))
|
||
sum++;
|
||
if ((home9.position.x >= 105 && home9.position.x <= 157 && home9.position.y >= 247 && home9.position.y <= 577) || (home9.position.x >= 65 && home9.position.x <= 157 && home9.position.y >= 217 && home9.position.y <= 247) || (home9.position.x >= 65 && home9.position.x <= 157 && home9.position.y >= 577 && home9.position.y <= 607))
|
||
sum++;
|
||
if ((home10.position.x >= 105 && home10.position.x <= 157 && home10.position.y >= 247 && home10.position.y <= 577) || (home10.position.x >= 65 && home10.position.x <= 157 && home10.position.y >= 217 && home10.position.y <= 247) || (home10.position.x >= 65 && home10.position.x <= 157 && home10.position.y >= 577 && home10.position.y <= 607))
|
||
sum++;
|
||
return sum;
|
||
}
|
||
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)
|
||
sum++;
|
||
if (home2.position.x >= 65 && home2.position.x < 105 && home2.position.y >= 247 && home2.position.y <= 577)
|
||
sum++;
|
||
if (home3.position.x >= 65 && home3.position.x < 105 && home3.position.y >= 247 && home3.position.y <= 577)
|
||
sum++;
|
||
if (home4.position.x >= 65 && home4.position.x < 105 && home4.position.y >= 247 && home4.position.y <= 577)
|
||
sum++;
|
||
if (home5.position.x >= 65 && home5.position.x < 105 && home5.position.y >= 247 && home5.position.y <= 577)
|
||
sum++;
|
||
if (home6.position.x >= 65 && home6.position.x < 105 && home6.position.y >= 247 && home6.position.y <= 577)
|
||
sum++;
|
||
if (home7.position.x >= 65 && home7.position.x < 105 && home7.position.y >= 247 && home7.position.y <= 577)
|
||
sum++;
|
||
if (home8.position.x >= 65 && home8.position.x < 105 && home8.position.y >= 247 && home8.position.y <= 577)
|
||
sum++;
|
||
if (home9.position.x >= 65 && home9.position.x < 105 && home9.position.y >= 247 && home9.position.y <= 577)
|
||
sum++;
|
||
if (home10.position.x >= 65 && home10.position.x < 105 && home10.position.y >= 247 && home10.position.y <= 577)
|
||
sum++;
|
||
return sum;
|
||
}
|
||
void CStrategySystem::Possession() {
|
||
Navigate();
|
||
/*for(int i=1;i<11;i++)
|
||
{
|
||
Navigation[i]=ball.position;
|
||
}*/
|
||
|
||
// if (ball.position.x < 290) {
|
||
// Canshot();
|
||
// for (int i = 1; i < 9; i++) {
|
||
// control(i);
|
||
// }
|
||
// }
|
||
// else
|
||
// for (int i = 1; i < 11; i++) {
|
||
// control(i);
|
||
// }
|
||
|
||
// bool a, b;
|
||
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
|
||
else
|
||
control(7);
|
||
|
||
if (Distance(ball.position, home2.position) <= 75) // 2可射
|
||
{
|
||
control(1); // 1
|
||
if (search1() < 4)
|
||
Shot(HOME2, 1); // 2射
|
||
else
|
||
control(2);
|
||
for (int i = 3; i < 7; i++) // 3-6
|
||
control(i);
|
||
control(1); // 8
|
||
if (!Canshot()) // 9，10
|
||
{
|
||
control(9);
|
||
control(10);
|
||
}
|
||
}
|
||
else if (Distance(ball.position, home3.position) <= 75 && ball.position.y <= 481 && ball.position.y >= 505) // 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(8); // 8
|
||
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 if (ball.position.y < 481 && ball.position.x < 290) // 球在敌方上半
|
||
{
|
||
if ((ball.position.y >= 217 && ball.position.y <= 337) || (ball.position.x - ball.oldPosition.x <= 5 && ball.position.y - ball.oldPosition.y <= 5) && search1() < 4) // 8可射
|
||
Shot(8, 0);
|
||
else
|
||
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);
|
||
}
|
||
}
|
||
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);
|
||
}
|
||
}
|
||
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
|
||
control(i);
|
||
}
|
||
// 守门
|
||
void CStrategySystem::Goalie() {
|
||
int gx = ball.position.x >= 873 && (ball.position.y <= 217 || ball.position.y >= 607) || ball.position.x >= 950 ? 965 : 950;
|
||
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 (ball.position.x >= 927 && (ball.position.y >= 313 && ball.position.y <= 505 && ball.position.x < hgoalie.position.x || ball.position.y <= 247 && ball.position.y >= 313 || ball.position.y >= 505 && ball.position.y <= 577))
|
||
Position(HGOALIE, ball.position); // TODO kick ball
|
||
//
|
||
else {
|
||
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));
|
||
}
|
||
|
||
// 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);
|
||
// }
|
||
// 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));
|
||
// }
|
||
// }
|
||
}
|
||
|
||
double CStrategySystem::Distance(CPoint point1, CPoint point2) {
|
||
return sqrt(1.0 * (point1.x - point2.x) * (point1.x - point2.x) + 1.0 * (point1.y - point2.y) * (point1.y - point2.y));
|
||
}
|
||
|
||
double CStrategySystem::Angle(CPoint point1, CPoint point2) {
|
||
return atan2(1.0 * (point1.y - point2.y), 1.0 * (point1.x - point2.x));
|
||
}
|
||
|
||
void CStrategySystem::Direction(int which, CPoint point) {
|
||
Robot2 *robot;
|
||
double distance_e;
|
||
int dx, dy, desired_angle, theta_e, vL, vR;
|
||
|
||
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;
|
||
}
|
||
|
||
point.x = 2 * point.x - robot->position.x;
|
||
point.y = 2 * point.y - robot->position.y;
|
||
|
||
point.x = point.x < boundRect.left ? boundRect.left : point.x;
|
||
point.x = point.x > boundRect.right ? boundRect.right : point.x;
|
||
point.y = point.y < boundRect.top ? boundRect.top : point.y;
|
||
point.y = point.y > boundRect.bottom ? boundRect.bottom : point.y;
|
||
|
||
dx = point.x - robot->position.x;
|
||
dy = point.y - robot->position.y;
|
||
|
||
distance_e = sqrt(1.0 * dx * dx + 1.0 * dy * dy);
|
||
|
||
if (dx == 0 && dy == 0)
|
||
desired_angle = 90;
|
||
else
|
||
desired_angle = (int)(180.0 / M_PI * atan2((double)(dy), (double)(dx)));
|
||
|
||
theta_e = desired_angle - robot->angle;
|
||
|
||
while (theta_e > 180)
|
||
theta_e -= 360;
|
||
while (theta_e < -180)
|
||
theta_e += 360;
|
||
|
||
if (theta_e < -90) {
|
||
theta_e += 180;
|
||
distance_e = -distance_e;
|
||
}
|
||
else if (theta_e > 90) {
|
||
theta_e -= 180;
|
||
distance_e = -distance_e;
|
||
}
|
||
|
||
vL = (int)(5. * (100.0 / 1000.0 * distance_e + 40.0 / 90.0 * theta_e));
|
||
vR = (int)(5. * (100.0 / 1000.0 * distance_e - 40.0 / 90.0 * theta_e));
|
||
|
||
Velocity(which, vL, vR);
|
||
}
|
||
|
||
void CStrategySystem::DirectionSE(int which, CPoint point) {
|
||
Robot2 *robot;
|
||
double distance_e;
|
||
int dx, dy, desired_angle, theta_e, vL, vR;
|
||
|
||
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;
|
||
}
|
||
|
||
point.x = 2 * point.x - robot->position.x;
|
||
point.y = 2 * point.y - robot->position.y;
|
||
|
||
if (point.x >= 873 && point.y >= 217 && point.y <= 607)
|
||
if (robot->position.x >= 873) {
|
||
if (robot->position.y <= 217) {
|
||
point.x = robot->position.x - (robot->position.x - point.x) * (217 - robot->position.y) / (point.y - robot->position.y);
|
||
point.y = 217;
|
||
}
|
||
else if (robot->position.y >= 607) {
|
||
point.x = robot->position.x - (robot->position.x - point.x) * (607 - robot->position.y) / (point.y - robot->position.y);
|
||
point.y = 607;
|
||
}
|
||
}
|
||
else {
|
||
point.x = 873;
|
||
point.y = robot->position.y - (robot->position.y - point.y) * (873 - robot->position.x) / (point.x - robot->position.x);
|
||
}
|
||
|
||
point.x = point.x < boundRect.left ? boundRect.left : point.x;
|
||
point.x = point.x > boundRect.right ? boundRect.right : point.x;
|
||
point.y = point.y < boundRect.top ? boundRect.top : point.y;
|
||
point.y = point.y > boundRect.bottom ? boundRect.bottom : point.y;
|
||
|
||
dx = point.x - robot->position.x;
|
||
dy = point.y - robot->position.y;
|
||
|
||
distance_e = sqrt(1.0 * dx * dx + 1.0 * dy * dy);
|
||
|
||
if (dx == 0 && dy == 0)
|
||
desired_angle = 90;
|
||
else
|
||
desired_angle = (int)(180.0 / M_PI * atan2((double)(dy), (double)(dx)));
|
||
|
||
theta_e = desired_angle - robot->angle;
|
||
|
||
while (theta_e > 180)
|
||
theta_e -= 360;
|
||
while (theta_e < -180)
|
||
theta_e += 360;
|
||
|
||
if (theta_e < -90) {
|
||
theta_e += 180;
|
||
distance_e = -distance_e;
|
||
}
|
||
else if (theta_e > 90) {
|
||
theta_e -= 180;
|
||
distance_e = -distance_e;
|
||
}
|
||
|
||
vL = (int)(5. * (100.0 / 1000.0 * distance_e + 40.0 / 90.0 * theta_e));
|
||
vR = (int)(5. * (100.0 / 1000.0 * distance_e - 40.0 / 90.0 * theta_e));
|
||
|
||
Velocity(which, vL, vR);
|
||
}
|
||
|
||
void CStrategySystem::PositionSE(int which, CPoint point) {
|
||
Robot2 *robot;
|
||
double distance_e;
|
||
int dx, dy, desired_angle, theta_e, vL, vR;
|
||
|
||
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;
|
||
}
|
||
|
||
if (point.x >= 873 && point.y >= 217 && point.y <= 607)
|
||
if (robot->position.x >= 873) {
|
||
if (robot->position.y <= 217) {
|
||
point.x = robot->position.x - (robot->position.x - point.x) * (217 - robot->position.y) / (point.y - robot->position.y);
|
||
point.y = 217;
|
||
}
|
||
else if (robot->position.y >= 607) {
|
||
point.x = robot->position.x - (robot->position.x - point.x) * (607 - robot->position.y) / (point.y - robot->position.y);
|
||
point.y = 607;
|
||
}
|
||
}
|
||
else {
|
||
point.x = 873;
|
||
point.y = robot->position.y - (robot->position.y - point.y) * (873 - robot->position.x) / (point.x - robot->position.x);
|
||
}
|
||
|
||
point.x = point.x < boundRect.left ? boundRect.left : point.x;
|
||
point.x = point.x > boundRect.right ? boundRect.right : point.x;
|
||
point.y = point.y < boundRect.top ? boundRect.top : point.y;
|
||
point.y = point.y > boundRect.bottom ? boundRect.bottom : point.y;
|
||
|
||
dx = point.x - robot->position.x;
|
||
dy = point.y - robot->position.y;
|
||
|
||
distance_e = sqrt(1.0 * dx * dx + 1.0 * dy * dy);
|
||
|
||
if (dx == 0 && dy == 0)
|
||
desired_angle = 90;
|
||
else
|
||
desired_angle = (int)(180.0 / M_PI * atan2((double)(dy), (double)(dx)));
|
||
|
||
theta_e = desired_angle - robot->angle;
|
||
|
||
while (theta_e > 180)
|
||
theta_e -= 360;
|
||
while (theta_e < -180)
|
||
theta_e += 360;
|
||
|
||
if (theta_e < -90) {
|
||
theta_e += 180;
|
||
distance_e = -distance_e;
|
||
}
|
||
else if (theta_e > 90) {
|
||
theta_e -= 180;
|
||
distance_e = -distance_e;
|
||
}
|
||
|
||
vL = (int)(5. * (100.0 / 1000.0 * distance_e + 40.0 / 90.0 * theta_e));
|
||
vR = (int)(5. * (100.0 / 1000.0 * distance_e - 40.0 / 90.0 * theta_e));
|
||
|
||
Velocity(which, vL, vR);
|
||
}
|
||
|
||
void CStrategySystem::Rush(int which, CPoint point) {
|
||
Robot2 *robot;
|
||
double distance_e;
|
||
int dx, dy, desired_angle, theta_e, vL, vR;
|
||
|
||
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;
|
||
}
|
||
|
||
CPoint p3;
|
||
|
||
// 计算射线的斜率和截距
|
||
double k = (double)(point.y - robot->position.y) / (point.x - robot->position.x);
|
||
double b = robot->position.y - k * robot->position.x;
|
||
// 判断射线的方向
|
||
bool right = point.x > robot->position.x; // 是否向右
|
||
bool up = point.y < robot->position.y; // 是否向上
|
||
// 根据方向和斜率判断相交边
|
||
if (right && up) { // 右上方
|
||
if (k > 0) { // 斜率大于 0
|
||
// 右边或上边
|
||
if (k * boundRect.right + b < boundRect.top) {
|
||
// 右边
|
||
p3.x = boundRect.right;
|
||
p3.y = k * boundRect.right + b;
|
||
}
|
||
else {
|
||
// 上边
|
||
p3.x = (boundRect.top - b) / k;
|
||
p3.y = boundRect.top;
|
||
}
|
||
}
|
||
else { // 斜率小于等于 0
|
||
// 上边或右边
|
||
if ((boundRect.top - b) / k > boundRect.right) {
|
||
// 上边
|
||
p3.x = (boundRect.top - b) / k;
|
||
p3.y = boundRect.top;
|
||
}
|
||
else {
|
||
// 右边
|
||
p3.x = boundRect.right;
|
||
p3.y = k * boundRect.right + b;
|
||
}
|
||
}
|
||
}
|
||
else if (right && !up) { // 右下方
|
||
if (k > 0) { // 斜率大于 0
|
||
// 下边或右边
|
||
if ((boundRect.bottom - b) / k < boundRect.right) {
|
||
// 下边
|
||
p3.x = (boundRect.bottom - b) / k;
|
||
p3.y = boundRect.bottom;
|
||
}
|
||
else {
|
||
// 右边
|
||
p3.x = boundRect.right;
|
||
p3.y = k * boundRect.right + b;
|
||
}
|
||
}
|
||
else { // 斜率小于等于 0
|
||
// 右边或下边
|
||
if (k * boundRect.right + b > boundRect.bottom) {
|
||
// 右边
|
||
p3.x = boundRect.right;
|
||
p3.y = k * boundRect.right + b;
|
||
}
|
||
else {
|
||
// 下边
|
||
p3.x = (boundRect.bottom - b) / k;
|
||
p3.y = boundRect.bottom;
|
||
}
|
||
}
|
||
}
|
||
else if (!right && up) { // 左上方
|
||
if (k > 0) { // 斜率大于 0
|
||
// 上边或左边
|
||
if ((boundRect.top - b) / k < boundRect.left) {
|
||
// 上边
|
||
p3.x = (boundRect.top - b) / k;
|
||
p3.y = boundRect.top;
|
||
}
|
||
else {
|
||
// 左边
|
||
p3.x = boundRect.left;
|
||
p3.y = k * boundRect.left + b;
|
||
}
|
||
}
|
||
else { // 斜率小于等于 0
|
||
// 左边或上边
|
||
if (k * boundRect.left + b < boundRect.top) {
|
||
// 左边
|
||
p3.x = boundRect.left;
|
||
p3.y = k * boundRect.left + b;
|
||
}
|
||
else {
|
||
// 上边
|
||
p3.x = (boundRect.top - b) / k;
|
||
p3.y = boundRect.top;
|
||
}
|
||
}
|
||
}
|
||
else { // 左下方
|
||
if (k > 0) { // 斜率大于 0
|
||
// 左边或下边
|
||
if (k * boundRect.left + b > boundRect.bottom) {
|
||
// 左边
|
||
p3.x = boundRect.left;
|
||
p3.y = k * boundRect.left + b;
|
||
}
|
||
else {
|
||
// 下边
|
||
p3.x = (boundRect.bottom - b) / k;
|
||
p3.y = boundRect.bottom;
|
||
}
|
||
}
|
||
else { // 斜率小于等于 0
|
||
// 下边或左边
|
||
if ((boundRect.bottom - b) / k > boundRect.left) {
|
||
// 下边
|
||
p3.x = (boundRect.bottom - b) / k;
|
||
p3.y = boundRect.bottom;
|
||
}
|
||
else {
|
||
// 左边
|
||
p3.x = boundRect.left;
|
||
p3.y = k * boundRect.left + b;
|
||
}
|
||
}
|
||
}
|
||
|
||
point = p3;
|
||
|
||
point.x = point.x < boundRect.left ? boundRect.left : point.x;
|
||
point.x = point.x > boundRect.right ? boundRect.right : point.x;
|
||
point.y = point.y < boundRect.top ? boundRect.top : point.y;
|
||
point.y = point.y > boundRect.bottom ? boundRect.bottom : point.y;
|
||
|
||
dx = point.x - robot->position.x;
|
||
dy = point.y - robot->position.y;
|
||
|
||
distance_e = sqrt(1.0 * dx * dx + 1.0 * dy * dy);
|
||
|
||
if (dx == 0 && dy == 0)
|
||
desired_angle = 90;
|
||
else
|
||
desired_angle = (int)(180.0 / M_PI * atan2((double)(dy), (double)(dx)));
|
||
|
||
theta_e = desired_angle - robot->angle;
|
||
|
||
while (theta_e > 180)
|
||
theta_e -= 360;
|
||
while (theta_e < -180)
|
||
theta_e += 360;
|
||
|
||
if (theta_e < -90) {
|
||
theta_e += 180;
|
||
distance_e = -distance_e;
|
||
}
|
||
else if (theta_e > 90) {
|
||
theta_e -= 180;
|
||
distance_e = -distance_e;
|
||
}
|
||
|
||
vL = (int)(5. * (100.0 / 1000.0 * distance_e + 40.0 / 90.0 * theta_e));
|
||
vR = (int)(5. * (100.0 / 1000.0 * distance_e - 40.0 / 90.0 * theta_e));
|
||
|
||
Velocity(which, vL, vR);
|
||
}
|
||
|
||
// 判断状态，1 为罚球，0 为正常, 其他为争球
|
||
int CStrategySystem::Status() {
|
||
if (ball.position.x <= 309 && ball.position.x >= 279) {
|
||
if (ball.position.y >= 394 && ball.position.y <= 424)
|
||
return 1;
|
||
if (ball.position.y <= 193 && ball.position.y >= 173)
|
||
return 2; // 左上争球点
|
||
if (ball.position.y <= 648 && ball.position.y >= 628)
|
||
return 3; // 左下争球点
|
||
}
|
||
if (ball.position.x <= 753 && ball.position.x >= 733) {
|
||
if (ball.position.y <= 193 && ball.position.y >= 173)
|
||
return 4; // 右上争球点
|
||
if (ball.position.y <= 648 && ball.position.y >= 628)
|
||
return 5; // 右下争球点
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
void CStrategySystem::Action() {
|
||
switch (Status()) {
|
||
case 1:
|
||
Penalty();
|
||
flag = true;
|
||
break;
|
||
case 2:
|
||
case 3:
|
||
case 4:
|
||
case 5:
|
||
Freeball();
|
||
break;
|
||
default:
|
||
Possession();
|
||
flag = true;
|
||
break;
|
||
}
|
||
Goalie();
|
||
}
|
||
|
||
void CStrategySystem::Angle(int which, int desired_angle) {
|
||
Robot2 *robot;
|
||
int theta_e, vL, vR;
|
||
|
||
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;
|
||
}
|
||
|
||
theta_e = desired_angle - robot->angle;
|
||
while (theta_e > 180)
|
||
theta_e -= 360;
|
||
while (theta_e < -180)
|
||
theta_e += 360;
|
||
if (theta_e < -90)
|
||
theta_e += 180;
|
||
else if (theta_e > 90)
|
||
theta_e -= 180;
|
||
vL = (int)(60.0 / 90.0 * theta_e);
|
||
vR = (int)(-60.0 / 90.0 * theta_e);
|
||
Velocity(which, vL, vR);
|
||
}
|
||
|
||
void CStrategySystem::Velocity(int which, int vL, int vR) {
|
||
if (vL < -127)
|
||
vL = -127;
|
||
if (vL > 127)
|
||
vL = 127;
|
||
|
||
if (vR < -127)
|
||
vR = -127;
|
||
if (vR > 127)
|
||
vR = 127;
|
||
|
||
switch (which) {
|
||
case HOME1:
|
||
command[2] = vL;
|
||
command[3] = vR;
|
||
command[4] = C_GO;
|
||
break;
|
||
case HOME2:
|
||
command[5] = vL;
|
||
command[6] = vR;
|
||
command[7] = C_GO;
|
||
break;
|
||
case HOME3:
|
||
command[8] = vL;
|
||
command[9] = vR;
|
||
command[10] = C_GO;
|
||
break;
|
||
case HOME4:
|
||
command[11] = vL;
|
||
command[12] = vR;
|
||
command[13] = C_GO;
|
||
break;
|
||
case HOME5:
|
||
command[14] = vL;
|
||
command[15] = vR;
|
||
command[16] = C_GO;
|
||
break;
|
||
case HOME6:
|
||
command[17] = vL;
|
||
command[18] = vR;
|
||
command[19] = C_GO;
|
||
break;
|
||
case HOME7:
|
||
command[20] = vL;
|
||
command[21] = vR;
|
||
command[22] = C_GO;
|
||
break;
|
||
case HOME8:
|
||
command[23] = vL;
|
||
command[24] = vR;
|
||
command[25] = C_GO;
|
||
break;
|
||
case HOME9:
|
||
command[26] = vL;
|
||
command[27] = vR;
|
||
command[28] = C_GO;
|
||
break;
|
||
case HOME10:
|
||
command[29] = vL;
|
||
command[30] = vR;
|
||
command[31] = C_GO;
|
||
break;
|
||
case HGOALIE:
|
||
command[32] = vL;
|
||
command[33] = vR;
|
||
command[34] = C_GO;
|
||
break;
|
||
}
|
||
}
|
||
|
||
void CStrategySystem::Position(int which, CPoint point) {
|
||
Robot2 *robot;
|
||
double distance_e;
|
||
int dx, dy, desired_angle, theta_e, vL, vR;
|
||
|
||
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;
|
||
}
|
||
|
||
point.x = point.x < boundRect.left ? boundRect.left : point.x;
|
||
point.x = point.x > boundRect.right ? boundRect.right : point.x;
|
||
point.y = point.y < boundRect.top ? boundRect.top : point.y;
|
||
point.y = point.y > boundRect.bottom ? boundRect.bottom : point.y;
|
||
|
||
dx = point.x - robot->position.x;
|
||
dy = point.y - robot->position.y;
|
||
|
||
distance_e = sqrt(1.0 * dx * dx + 1.0 * dy * dy);
|
||
|
||
if (dx == 0 && dy == 0)
|
||
desired_angle = 90;
|
||
else
|
||
desired_angle = (int)(180.0 / M_PI * atan2((double)(dy), (double)(dx)));
|
||
|
||
theta_e = desired_angle - robot->angle;
|
||
|
||
while (theta_e > 180)
|
||
theta_e -= 360;
|
||
while (theta_e < -180)
|
||
theta_e += 360;
|
||
|
||
if (theta_e < -90) {
|
||
theta_e += 180;
|
||
distance_e = -distance_e;
|
||
}
|
||
else if (theta_e > 90) {
|
||
theta_e -= 180;
|
||
distance_e = -distance_e;
|
||
}
|
||
|
||
vL = (int)(5. * (100.0 / 1000.0 * distance_e + 40.0 / 90.0 * theta_e));
|
||
vR = (int)(5. * (100.0 / 1000.0 * distance_e - 40.0 / 90.0 * theta_e));
|
||
|
||
Velocity(which, vL, vR);
|
||
}
|
||
|
||
void CStrategySystem::Stop(int which) {
|
||
int vL, vR;
|
||
vL = vR = 0;
|
||
Velocity(which, vL, vR);
|
||
}
|
||
|
||
void CStrategySystem::ReceiveData(Robot1 bal, Robot2 ho1, Robot2 ho2, Robot2 ho3, Robot2 ho4,
|
||
Robot2 ho5, Robot2 ho6, Robot2 ho7, Robot2 ho8, Robot2 ho9,
|
||
Robot2 ho10, Robot2 hgo, Robot3 opp) {
|
||
if (m_nGameArea == GAME_RIGHT) {
|
||
ball.position = bal.position;
|
||
ball.oldPosition = bal.oldPosition;
|
||
ball.angle = bal.angle;
|
||
|
||
home1.position = ho1.position;
|
||
home1.oldPosition = ho1.oldPosition;
|
||
home1.angle = ho1.angle;
|
||
|
||
home2.position = ho2.position;
|
||
home2.oldPosition = ho2.oldPosition;
|
||
home2.angle = ho2.angle;
|
||
|
||
home3.position = ho3.position;
|
||
home3.oldPosition = ho3.oldPosition;
|
||
home3.angle = ho3.angle;
|
||
|
||
home4.position = ho4.position;
|
||
home4.oldPosition = ho4.oldPosition;
|
||
home4.angle = ho4.angle;
|
||
|
||
home5.position = ho5.position;
|
||
home5.oldPosition = ho5.oldPosition;
|
||
home5.angle = ho5.angle;
|
||
|
||
home6.position = ho6.position;
|
||
home6.oldPosition = ho6.oldPosition;
|
||
home6.angle = ho6.angle;
|
||
|
||
home7.position = ho7.position;
|
||
home7.oldPosition = ho7.oldPosition;
|
||
home7.angle = ho7.angle;
|
||
|
||
home8.position = ho8.position;
|
||
home8.oldPosition = ho8.oldPosition;
|
||
home8.angle = ho8.angle;
|
||
|
||
home9.position = ho9.position;
|
||
home9.oldPosition = ho9.oldPosition;
|
||
home9.angle = ho9.angle;
|
||
|
||
home10.position = ho10.position;
|
||
home10.oldPosition = ho10.oldPosition;
|
||
home10.angle = ho10.angle;
|
||
|
||
hgoalie.position = hgo.position;
|
||
hgoalie.oldPosition = hgo.oldPosition;
|
||
hgoalie.angle = hgo.angle;
|
||
|
||
opponent.position1 = opp.position1;
|
||
opponent.oldPosition1 = opp.oldPosition1;
|
||
opponent.position2 = opp.position2;
|
||
opponent.oldPosition2 = opp.oldPosition2;
|
||
opponent.position3 = opp.position3;
|
||
opponent.oldPosition3 = opp.oldPosition3;
|
||
opponent.position4 = opp.position4;
|
||
opponent.oldPosition4 = opp.oldPosition4;
|
||
opponent.position5 = opp.position5;
|
||
opponent.oldPosition5 = opp.oldPosition5;
|
||
opponent.position6 = opp.position6;
|
||
opponent.oldPosition6 = opp.oldPosition6;
|
||
opponent.position7 = opp.position7;
|
||
opponent.oldPosition7 = opp.oldPosition7;
|
||
opponent.position8 = opp.position8;
|
||
opponent.oldPosition8 = opp.oldPosition8;
|
||
opponent.position9 = opp.position9;
|
||
opponent.oldPosition9 = opp.oldPosition9;
|
||
opponent.position10 = opp.position10;
|
||
opponent.oldPosition10 = opp.oldPosition10;
|
||
opponent.position11 = opp.position11;
|
||
opponent.oldPosition11 = opp.oldPosition11;
|
||
}
|
||
else {
|
||
ball.position.x = 1030 - bal.position.x;
|
||
ball.oldPosition.x = 1030 - bal.oldPosition.x;
|
||
ball.position.y = 818 - bal.position.y;
|
||
ball.oldPosition.y = 818 - bal.oldPosition.y;
|
||
if (ball.angle > 0)
|
||
ball.angle = bal.angle - 180;
|
||
else
|
||
ball.angle = 180 + bal.angle;
|
||
|
||
home1.position.x = 1030 - ho1.position.x;
|
||
home1.oldPosition.x = 1030 - ho1.oldPosition.x;
|
||
home1.position.y = 818 - ho1.position.y;
|
||
home1.oldPosition.y = 818 - ho1.oldPosition.y;
|
||
if (home1.angle > 0)
|
||
home1.angle = ho1.angle - 180;
|
||
else
|
||
home1.angle = 180 + ho1.angle;
|
||
home2.position.x = 1030 - ho2.position.x;
|
||
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) {
|
||
int t = 11;
|
||
while (t--) {
|
||
Navigation.push_back(ball.position);
|
||
}
|
||
|
||
flag = true;
|
||
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() {
|
||
// }
|