// -*-c++-*-/*
*Copyright:
Copyright (C) Hidehisa AKIYAMA
This code is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*EndCopyright:
*//////////////////////////////////////////////////////////////////////#ifdef HAVE_CONFIG_H#include<config.h>#endif#include"bhv_custom_before_kick_off.h"#include<rcsc/action/bhv_scan_field.h>#include<rcsc/action/neck_turn_to_relative.h>#include<rcsc/player/player_agent.h>#include<rcsc/common/server_param.h>#include<rcsc/common/logger.h>usingnamespace rcsc;// #define DEBUG_PRINT/*-------------------------------------------------------------------*//*!
*//*
问题：
无，因为我看源代码是从后面忘前面看的，所以想提出来的问题都被姚文进和张智洋提出来了，就给子昂哥省事了哈哈！
理解：
这个函数是Bhv_CustomBeforeKickOff的执行函数，只要的作用是在踢球之前规定一些必须判断的规则，以后需要踢球之前必须通过该函数进行判断，如果符合这个这些规则才可以踢球。
By ChenYanTing
*/bool
Bhv_CustomBeforeKickOff::execute( PlayerAgent * agent )//踢球前的习惯的执行函数{const ServerParam & SP = ServerParam::i();const WorldModel & wm = agent->world();if( wm.time().cycle()==0&& wm.time().stopped()<5){
agent->doTurn(0.0);
agent->setNeckAction(newNeck_TurnToRelative(0.0));returnfalse;}if( wm.gameMode().type()== GameMode::AfterGoal_
&& wm.self().vel().r()>0.05){
agent->doTurn(180.0);
agent->setNeckAction(newNeck_TurnToRelative(0.0));returntrue;}// check center circle
SideID kickoff_side = NEUTRAL;if( wm.gameMode().type()== GameMode::AfterGoal_ ){// after our goalif( wm.gameMode().side()!= wm.ourSide()){
kickoff_side = wm.ourSide();}else{
kickoff_side =( wm.ourSide()== LEFT
? RIGHT
: LEFT );}}else// before_kick_off{// check half_time countif( SP.halfTime()>0){int half_time = SP.halfTime()*10;int extra_half_time = SP.extraHalfTime()*10;int normal_time = half_time * SP.nrNormalHalfs();int extra_time = extra_half_time * SP.nrExtraHalfs();#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION,__FILE__": half_time=%d nr_normal_halfs=%d normal_time=%d",
half_time, SP.nrNormalHalfs(),
normal_time );
dlog.addText( Logger::ACTION,__FILE__": extra_half_time=%d nr_extra_halfs=%d extra_time=%d",
extra_half_time, SP.nrExtraHalfs(),
extra_time );
dlog.addText( Logger::ACTION,__FILE__": total_time=%d",
normal_time + extra_time );#endifint time_flag =0;if( wm.time().cycle()<= normal_time ){
time_flag =( wm.time().cycle()/ half_time )%2;#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION,__FILE__": time=%d time/half_time=%d flag=%d",
wm.time().cycle(),
wm.time().cycle()/ half_time,
time_flag );#endif}elseif( wm.time().cycle()<= normal_time + extra_time ){int overtime = wm.time().cycle()- normal_time;
time_flag =( overtime / extra_half_time )%2;#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION,__FILE__": overtime=%d overttime/extra_half_time=%d flag=%d",
overtime,
wm.time().cycle()/ extra_half_time,
time_flag );#endif}
kickoff_side =( time_flag ==0? LEFT
: RIGHT );}else{
kickoff_side = LEFT;}}//// fix move target point//#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION,__FILE__": move_pos=(%.2f %.2f)",
M_move_point.x, M_move_point.y );#endifif( SP.kickoffOffside()&& M_move_point.x >=0.0){
M_move_point.x =-0.001;#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION,__FILE__": avoid kick off offside");#endif}if( kickoff_side != wm.ourSide()&& M_move_point.r()< ServerParam::i().centerCircleR()+0.1){
M_move_point *=( ServerParam::i().centerCircleR()+0.5)/ M_move_point.r();#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION,__FILE__": avoid center circle. new pos=(%.2f %.2f)",
M_move_point.x, M_move_point.y );#endif}// movedouble tmpr =( M_move_point - wm.self().pos()).r();if( tmpr >1.0){
agent->doMove( M_move_point.x, M_move_point.y );
agent->setNeckAction(newNeck_TurnToRelative(0.0));returntrue;}// field scanreturnBhv_ScanField().execute( agent );}
bhv_dangerAreaTackle.cpp
代码个人理解与存在的问题（已经通过注释标出）
// -*-c++-*-/*
*Copyright:
Copyright (C) Hidehisa AKIYAMA
This code is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2, or (at your option)
any later version.
This code is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this code; see the file COPYING. If not, write to
the Free Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
*EndCopyright:
*//////////////////////////////////////////////////////////////////////#ifdef HAVE_CONFIG_H#include<config.h>#endif#include"bhv_dangerAreaTackle.h"#include<rcsc/action/neck_turn_to_ball_or_scan.h>#include<rcsc/player/player_agent.h>#include<rcsc/player/debug_client.h>#include<rcsc/common/logger.h>#include<rcsc/common/server_param.h>/*-------------------------------------------------------------------*//*!
execute action
*//*
问题：
1.agent->world().self().body().abs()与agent->world().self().body().degree()的区别在哪？是不是一个都代表角度，但是一个没有真负，另外一个却有？
2.角度的正负是如何规定的？从x出发顺时针旋转180为正，逆时针旋转180为逆？还是说朝向对手的180度为正，朝向自己这边的180为负？
3.agent->config().version() >= 12.0，这个有什么含义
理解：
这个函数是Bhv_DangerAreaTackle的执行函数，主要的作用为，根据身体朝向的角度、以及自己的位置与球门宽度的相对位置，还有球的坐标等因素综合判断，来进行一次合理的
抢断。其合理性在于需要保证铲球不能踢到对方球员或者自己球门内。
By ChenYanTing
*/bool
Bhv_DangerAreaTackle::execute(rcsc::PlayerAgent * agent){
rcsc::dlog.addText(rcsc::Logger::TEAM,__FILE__": Bhv_DangerAreaTackle");if(!agent->world().existKickableOpponent()|| agent->world().self().tackleProbability()< M_min_probability)//如果不存在可以踢球的敌人并且自己抢断的几率几乎不存在，那么返回false{
rcsc::dlog.addText(rcsc::Logger::TEAM,__FILE__": failed");returnfalse;}if(agent->world().self().pos().absY()> rcsc::ServerParam::i().goalHalfWidth()+5.0)//如果自己位置的Y坐标的绝对值大于球门宽度加上0.5{double power_or_dir =0.0;if(agent->config().version()>=12.0){if(agent->world().self().body().abs()<10.0){// nothing to do}elseif(agent->world().self().body().abs()>170.0){
power_or_dir =180.0;}elseif(agent->world().self().body().degree()* agent->world().self().pos().y <0.0){
power_or_dir =180.0;}}else{// out of goal
power_or_dir = rcsc::ServerParam::i().maxTacklePower();if(agent->world().self().body().abs()<10.0){// nothing to do}elseif(agent->world().self().body().abs()>170.0){
power_or_dir =-rcsc::ServerParam::i().maxBackTacklePower();if(power_or_dir >=-1.0){returnfalse;}}elseif(agent->world().self().body().degree()* agent->world().self().pos().y <0.0){
power_or_dir =-rcsc::ServerParam::i().maxBackTacklePower();if(power_or_dir >=-1.0){returnfalse;}}if(std::fabs(power_or_dir)<1.0){returnfalse;}}
rcsc::dlog.addText(rcsc::Logger::TEAM,__FILE__": out of goal width");
agent->debugClient().addMessage("tackle(1)");
agent->doTackle(power_or_dir);
agent->setNeckAction(new rcsc::Neck_TurnToBallOrScan());returntrue;}else{// within goal widthdouble power_sign =0.0;double abs_body = agent->world().self().body().abs();if(abs_body <70.0)
power_sign =1.0;if(abs_body >110.0)
power_sign =-1.0;if(power_sign ==0.0){
power_sign =(agent->world().self().body().degree()>0.0?1.0:-1.0);if(agent->world().ball().pos().y <0.0){
power_sign *=-1.0;}}if(agent->config().version()>=12.0){if(power_sign !=0.0){double tackle_dir =0.0;if(power_sign <0.0){
tackle_dir =180.0;}
rcsc::dlog.addText(rcsc::Logger::TEAM,__FILE__": power_sign = %.0f",
power_sign);
agent->debugClient().addMessage("tackle(%.0f)", power_sign);
agent->doTackle(tackle_dir);
agent->setNeckAction(new rcsc::Neck_TurnToBallOrScan());returntrue;}}else{double tackle_power =(
power_sign >=0.0?
rcsc::ServerParam::i().maxTacklePower():-rcsc::ServerParam::i().maxBackTacklePower());if(std::fabs(tackle_power)<1.0){returnfalse;}if(power_sign !=0.0){
rcsc::dlog.addText(rcsc::Logger::TEAM,__FILE__": power_sigh =%.0f",
power_sign);
agent->debugClient().addMessage("tackle(%.0f)", power_sign);
agent->doTackle(tackle_power);
agent->setNeckAction(new rcsc::Neck_TurnToBallOrScan());returntrue;}}}returnfalse;}
bhv_go_to_static_ball.cpp
代码个人理解与存在的问题（已经通过注释标出）
// -*-c++-*-/*
*Copyright:
Copyright (C) Hidehisa AKIYAMA
This code is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3, or (at your option)
any later version.
This code is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this code; see the file COPYING. If not, write to
the Free Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
*EndCopyright:
*//////////////////////////////////////////////////////////////////////#ifdef HAVE_CONFIG_H#include<config.h>#endif#include"bhv_go_to_static_ball.h"#include"bhv_set_play.h"#include<rcsc/action/basic_actions.h>#include<rcsc/action/body_go_to_point.h>#include<rcsc/action/neck_scan_field.h>#include<rcsc/action/neck_turn_to_ball_or_scan.h>#include<rcsc/player/player_agent.h>#include<rcsc/common/logger.h>#include<rcsc/common/server_param.h>usingnamespace rcsc;/*-------------------------------------------------------------------*//*!
*//*
问题：
1.M_ball_place_angle的含义是什么？这种M_开头的变量的含义都带“想”的含义吗？要怎么去理解这一类的变量呢？
2.angle_diff = wm.ball().angleFromSelf() - M_ball_place_angle，这个angle_diff的含义是什么？为什么要拿他跟15.0进行比较？
理解：
这个函数是Bhv_GoToStaticBall的执行函数，主要的作用为，根据球的角度、自己的位置、身体的朝向等因素，来执行球员跑到静态球的动作。
By ChenYanTing
*/bool
Bhv_GoToStaticBall::execute( PlayerAgent * agent ){constdouble dir_margin =15.0;const WorldModel & wm = agent->world();
AngleDeg angle_diff = wm.ball().angleFromSelf()- M_ball_place_angle;if( angle_diff.abs()< dir_margin
&& wm.ball().distFromSelf()<( wm.self().playerType().playerSize()+ ServerParam::i().ballSize()+0.08)){// already reachreturnfalse;}// decide sub-target point
Vector2D sub_target = wm.ball().pos()+ Vector2D::polar2vector(2.0, M_ball_place_angle +180.0);double dash_power =20.0;double dash_speed =-1.0;if( wm.ball().distFromSelf()>2.0){
dash_power = Bhv_SetPlay::get_set_play_dash_power( agent );}else{
dash_speed = wm.self().playerType().playerSize();
dash_power = wm.self().playerType().getDashPowerToKeepSpeed( dash_speed, wm.self().effort());}// it is necessary to go to sub target pointif( angle_diff.abs()> dir_margin ){
dlog.addText( Logger::TEAM,__FILE__": go to sub-target(%.1f, %.1f)",
sub_target.x, sub_target.y );Body_GoToPoint( sub_target,0.1,
dash_power,
dash_speed ).execute( agent );}// dir diff is small. go to ballelse{// body dir is not rightif(( wm.ball().angleFromSelf()- wm.self().body()).abs()>1.5){
dlog.addText( Logger::TEAM,__FILE__": turn to ball");Body_TurnToBall().execute( agent );}// dash to ballelse{
dlog.addText( Logger::TEAM,__FILE__": dash to ball");
agent->doDash( dash_power );}}
agent->setNeckAction(newNeck_ScanField());returntrue;
bhv_goalie_basic_move.cpp
代码个人理解与存在的问题（已经通过注释标出）
// -*-c++-*-/*
*Copyright:
Copyright (C) Hidehisa AKIYAMA
This code is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3, or (at your option)
any later version.
This code is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this code; see the file COPYING. If not, write to
the Free Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
*EndCopyright:
*//////////////////////////////////////////////////////////////////////#ifdef HAVE_CONFIG_H#include<config.h>#endif#include"bhv_goalie_basic_move.h"#include"bhv_basic_tackle.h"#include"neck_goalie_turn_neck.h"#include<rcsc/action/basic_actions.h>#include<rcsc/action/body_go_to_point.h>#include<rcsc/action/body_stop_dash.h>#include<rcsc/action/bhv_go_to_point_look_ball.h>#include<rcsc/player/player_agent.h>#include<rcsc/player/intercept_table.h>#include<rcsc/player/debug_client.h>#include<rcsc/common/logger.h>#include<rcsc/common/server_param.h>#include<rcsc/geom/line_2d.h>#include<rcsc/soccer_math.h>usingnamespace rcsc;/*-------------------------------------------------------------------*//*!
*//*
问题：
无
理解：
这个函数是Bhv_GoalieBasicMove的执行函数，主要是调用子函数，实现一系列移动需要进行的动作。
By ChenYanTing
*/bool
Bhv_GoalieBasicMove::execute( PlayerAgent * agent ){const Vector2D move_point =getTargetPoint( agent );
dlog.addText( Logger::TEAM,__FILE__": Bhv_GoalieBasicMove. move_point(%.2f %.2f)",
move_point.x, move_point.y );//////////////////////////////////////////////////////////////////// tackleif(Bhv_BasicTackle(0.8,90.0).execute( agent )){
dlog.addText( Logger::TEAM,__FILE__": tackle");returntrue;}///////////////////////////////////////////////////////////////----------------------------------------------------------if(doPrepareDeepCross( agent, move_point )){// face to opponent side to wait the opponent last cross passreturntrue;}//----------------------------------------------------------// check distance to the move target point// if already there, try to stopif(doStopAtMovePoint( agent, move_point )){// execute stop actionreturntrue;}//----------------------------------------------------------// check whether ball is in very dangerous stateif(doMoveForDangerousState( agent, move_point )){// execute emergency actionreturntrue;}//----------------------------------------------------------// check & correct X differenceif(doCorrectX( agent, move_point )){// execute x-pos adjustment actionreturntrue;}//----------------------------------------------------------if(doCorrectBodyDir( agent, move_point,true))// consider opp{// exeucte turnreturntrue;}//----------------------------------------------------------if(doGoToMovePoint( agent, move_point )){// mainly execute Y-adjustment if body direction is OK. -> only dash// if body direction is not good, nomal go to action is done.returntrue;}//----------------------------------------------------------// change my body angle to desired angleif(doCorrectBodyDir( agent, move_point,false))// not consider opp{returntrue;}
dlog.addText( Logger::TEAM,__FILE__": only look ball");
agent->debugClient().addMessage("OnlyTurnNeck");
agent->doTurn(0.0);
agent->setNeckAction(newNeck_GoalieTurnNeck());returntrue;}/*-------------------------------------------------------------------*//*!
*//*
问题：
1.wm.ball().inertiaPoint( ball_reach_step )，这个球的惯性点指的是什么？之前其实也有问过一次，但是貌似被忽略啦。
2.180行的right_pole是指的什么？
理解：
这个函数是Bhv_GoalieBasicMove的getTargetPoint函数，主要是根据球的轨迹、敌人的位置等因素，来计算出守门员应该处于的目标点并且返回该值。
By ChenYanTing
*/
Vector2D
Bhv_GoalieBasicMove::getTargetPoint( PlayerAgent * agent ){//因为是守门员，所以要贴着自己的球门移动，将x设置为两类，base_move_x与danger_move_xconstdouble base_move_x =-49.8;constdouble danger_move_x =-51.5;const WorldModel & wm = agent->world();int ball_reach_step =0;if(! wm.existKickableTeammate()&&! wm.existKickableOpponent()){
ball_reach_step
= std::min( wm.interceptTable()->teammateReachCycle(),
wm.interceptTable()->opponentReachCycle());}const Vector2D base_pos = wm.ball().inertiaPoint( ball_reach_step );//---------------------------------------------------------//// angle is very dangerousif( base_pos.y > ServerParam::i().goalHalfWidth()+3.0){
Vector2D right_pole(- ServerParam::i().pitchHalfLength(),
ServerParam::i().goalHalfWidth());
AngleDeg angle_to_pole =( right_pole - base_pos ).th();if(-140.0< angle_to_pole.degree()&& angle_to_pole.degree()<-90.0){
agent->debugClient().addMessage("RPole");returnVector2D( danger_move_x, ServerParam::i().goalHalfWidth()+0.001);}}elseif( base_pos.y <-ServerParam::i().goalHalfWidth()-3.0){
Vector2D left_pole(- ServerParam::i().pitchHalfLength(),- ServerParam::i().goalHalfWidth());
AngleDeg angle_to_pole =( left_pole - base_pos ).th();if(90.0< angle_to_pole.degree()&& angle_to_pole.degree()<140.0){
agent->debugClient().addMessage("LPole");returnVector2D( danger_move_x,- ServerParam::i().goalHalfWidth()-0.001);}}//---------------------------------------------------------//// ball is close to goal lineif( base_pos.x <-ServerParam::i().pitchHalfLength()+8.0&& base_pos.absY()> ServerParam::i().goalHalfWidth()+2.0){
Vector2D target_point( base_move_x, ServerParam::i().goalHalfWidth()-0.1);if( base_pos.y <0.0){
target_point.y *=-1.0;}
dlog.addText( Logger::TEAM,__FILE__": getTarget. target is goal pole");
agent->debugClient().addMessage("Pos(1)");return target_point;}//---------------------------------------------------------//{constdouble x_back =7.0;// tune this!!int ball_pred_cycle =5;// tune this!!constdouble y_buf =0.5;// tune this!!const Vector2D base_point(- ServerParam::i().pitchHalfLength()- x_back,0.0);
Vector2D ball_point;if( wm.existKickableOpponent()){
ball_point = base_pos;
agent->debugClient().addMessage("Pos(2)");}else{int opp_min = wm.interceptTable()->opponentReachCycle();if( opp_min < ball_pred_cycle ){
ball_pred_cycle = opp_min;
dlog.addText( Logger::TEAM,__FILE__": opp may reach near future. cycle = %d",
opp_min );}
ball_point
=inertia_n_step_point( base_pos,
wm.ball().vel(),
ball_pred_cycle,
ServerParam::i().ballDecay());
agent->debugClient().addMessage("Pos(3)");}if( ball_point.x < base_point.x +0.1){
ball_point.x = base_point.x +0.1;}
Line2D ball_line( ball_point, base_point );double move_y = ball_line.getY( base_move_x );if( move_y > ServerParam::i().goalHalfWidth()- y_buf ){
move_y = ServerParam::i().goalHalfWidth()- y_buf;}if( move_y <- ServerParam::i().goalHalfWidth()+ y_buf ){
move_y =- ServerParam::i().goalHalfWidth()+ y_buf;}returnVector2D( base_move_x, move_y );}}/*-------------------------------------------------------------------*//*!
*//*
问题：
1.my_inc = mytype.staminaIncMax() * wm.self().recovery()，这个计算出来的是什么？
理解：
这个函数是Bhv_GoalieBasicMove的getBasicDashPower函数，主要是根据球的x坐标，进行危险度划分，然后再结合自身的体力值等因素来得到最合适的DashPower并且返回。
By ChenYanTing
*/double
Bhv_GoalieBasicMove::getBasicDashPower( PlayerAgent * agent,const Vector2D & move_point ){const WorldModel & wm = agent->world();const PlayerType & mytype = wm.self().playerType();constdouble my_inc = mytype.staminaIncMax()* wm.self().recovery();if( std::fabs( wm.self().pos().x - move_point.x )>3.0){return ServerParam::i().maxDashPower();}if( wm.ball().pos().x >-30.0){if( wm.self().stamina()< ServerParam::i().staminaMax()*0.9){return my_inc *0.5;}
agent->debugClient().addMessage("P1");return my_inc;}elseif( wm.ball().pos().x > ServerParam::i().ourPenaltyAreaLineX()){if( wm.ball().pos().absY()>20.0){// penalty area
agent->debugClient().addMessage("P2");return my_inc;}if( wm.ball().vel().x >1.0){// ball is moving to opponent side
agent->debugClient().addMessage("P2.5");return my_inc *0.5;}int opp_min = wm.interceptTable()->opponentReachCycle();if( opp_min <=3){
agent->debugClient().addMessage("P2.3");return ServerParam::i().maxDashPower();}if( wm.self().stamina()< ServerParam::i().staminaMax()*0.7){
agent->debugClient().addMessage("P2.6");return my_inc *0.7;}
agent->debugClient().addMessage("P3");return ServerParam::i().maxDashPower()*0.6;}else{if( wm.ball().pos().absY()<15.0|| wm.ball().pos().y * wm.self().pos().y <0.0)// opposite side{
agent->debugClient().addMessage("P4");return ServerParam::i().maxDashPower();}else{
agent->debugClient().addMessage("P5");return my_inc;}}}/*-------------------------------------------------------------------*//*!
*//*
问题：
无
理解：
这个函数是Bhv_GoalieBasicMove的doPrepareDeepCross函数，主要作用看不太懂。
By ChenYanTing
*/bool
Bhv_GoalieBasicMove::doPrepareDeepCross( PlayerAgent * agent,const Vector2D & move_point ){if( move_point.absY()< ServerParam::i().goalHalfWidth()-0.8){// consider only very deep cross
dlog.addText( Logger::TEAM,__FILE__": doPrepareDeepCross no deep cross");returnfalse;}const WorldModel & wm = agent->world();const Vector2D goal_c(- ServerParam::i().pitchHalfLength(),0.0);
Vector2D goal_to_ball = wm.ball().pos()- goal_c;if( goal_to_ball.th().abs()<60.0){// ball is not in side cross area
dlog.addText( Logger::TEAM,__FILE__": doPrepareDeepCross.ball is not in side cross area");returnfalse;}
Vector2D my_inertia = wm.self().inertiaFinalPoint();double dist_thr = wm.ball().distFromSelf()*0.1;if( dist_thr <0.5) dist_thr =0.5;//double dist_thr = 0.5;if( my_inertia.dist( move_point )> dist_thr ){// needed to go to move target pointdouble dash_power =getBasicDashPower( agent, move_point );
dlog.addText( Logger::TEAM,__FILE__": doPrepareDeepCross. need to move. power=%.1f",
dash_power );
agent->debugClient().addMessage("DeepCrossMove%.0f", dash_power );
agent->debugClient().setTarget( move_point );
agent->debugClient().addCircle( move_point, dist_thr );doGoToPointLookBall( agent,
move_point,
wm.ball().angleFromSelf(),
dist_thr,
dash_power );returntrue;}
AngleDeg body_angle =( wm.ball().pos().y <0.0?10.0:-10.0);
agent->debugClient().addMessage("PrepareCross");
dlog.addText( Logger::TEAM,__FILE__": doPrepareDeepCross body angle = %.1f move_point(%.1f %.1f)",
body_angle.degree(),
move_point.x, move_point.y );
agent->debugClient().setTarget( move_point );Body_TurnToAngle( body_angle ).execute( agent );
agent->setNeckAction(newNeck_GoalieTurnNeck());returntrue;}/*-------------------------------------------------------------------*//*!
*//*
问题：
无
理解：
这个函数是Bhv_GoalieBasicMove的doStopAtMovePoint函数，主要作用是结合自己的位置、速度还有目标点的位置，来判断自己是否应该终止跑向目标点的行动。
By ChenYanTing
*/bool
Bhv_GoalieBasicMove::doStopAtMovePoint( PlayerAgent * agent,const Vector2D & move_point ){//----------------------------------------------------------// already exist at target point// but inertia movement is big// stop dashconst WorldModel & wm = agent->world();double dist_thr = wm.ball().distFromSelf()*0.1;if( dist_thr <0.5) dist_thr =0.5;// now, in the target areaif( wm.self().pos().dist( move_point )< dist_thr ){const Vector2D my_final
=inertia_final_point( wm.self().pos(),
wm.self().vel(),
wm.self().playerType().playerDecay());// after inertia move, can stay in the target areaif( my_final.dist( move_point )< dist_thr ){
agent->debugClient().addMessage("InertiaStay");
dlog.addText( Logger::TEAM,__FILE__": doStopAtMovePoint. inertia stay");returnfalse;}// try to stop at the current point
dlog.addText( Logger::TEAM,__FILE__": doStopAtMovePoint. stop dash");
agent->debugClient().addMessage("Stop");
agent->debugClient().setTarget( move_point );Body_StopDash(true).execute( agent );// save recovery
agent->setNeckAction(newNeck_GoalieTurnNeck());returntrue;}returnfalse;}/*-------------------------------------------------------------------*//*!
*//*
问题：
无
理解：
这个函数是Bhv_GoalieBasicMove的doMoveForDangerousState函数，主要作用是结合自身的位置、球的位置、敌人距离球的距离等因素，来判断自己是否应该前往危险区域。
By ChenYanTing
*/bool
Bhv_GoalieBasicMove::doMoveForDangerousState( PlayerAgent * agent,const Vector2D & move_point ){const WorldModel& wm = agent->world();constdouble x_buf =0.5;const Vector2D ball_next = wm.ball().pos()+ wm.ball().vel();
dlog.addText( Logger::TEAM,__FILE__": doMoveForDangerousState");if( std::fabs( move_point.x - wm.self().pos().x )> x_buf
&& ball_next.x <-ServerParam::i().pitchHalfLength()+11.0&& ball_next.absY()< ServerParam::i().goalHalfWidth()+1.0){// x difference to the move point is over threshold// but ball is in very dangerous area (just front of our goal)// and, exist opponent close to ballif(! wm.opponentsFromBall().empty()&& wm.opponentsFromBall().front()->distFromBall()<2.0){
Vector2D block_point
= wm.opponentsFromBall().front()->pos();
block_point.x -=2.5;
block_point.y = move_point.y;if( wm.self().pos().x < block_point.x ){
block_point.x = wm.self().pos().x;}
dlog.addText( Logger::TEAM,__FILE__": block opponent kickaer");
agent->debugClient().addMessage("BlockOpp");if(doGoToMovePoint( agent, block_point )){returntrue;}double dist_thr = wm.ball().distFromSelf()*0.1;if( dist_thr <0.5) dist_thr =0.5;
agent->debugClient().setTarget( block_point );
agent->debugClient().addCircle( block_point, dist_thr );doGoToPointLookBall( agent,
move_point,
wm.ball().angleFromSelf(),
dist_thr,
ServerParam::i().maxDashPower());returntrue;}}returnfalse;}/*-------------------------------------------------------------------*//*!
*//*
问题：
无
理解：
这个函数是Bhv_GoalieBasicMove的doCorrectX函数，主要作用是j考虑球与地方球员的危险程度，来校准当前守门员的x值。
By ChenYanTing
*/bool
Bhv_GoalieBasicMove::doCorrectX( PlayerAgent * agent,const Vector2D & move_point ){const WorldModel & wm = agent->world();constdouble x_buf =0.5;
dlog.addText( Logger::TEAM,__FILE__": doCorrectX");if( std::fabs( move_point.x - wm.self().pos().x )< x_buf ){// x difference is already small.
dlog.addText( Logger::TEAM,__FILE__": doCorrectX. x diff is small");returnfalse;}int opp_min_cyc = wm.interceptTable()->opponentReachCycle();if((! wm.existKickableOpponent()&& opp_min_cyc >=4)|| wm.ball().distFromSelf()>18.0){double dash_power =getBasicDashPower( agent, move_point );
dlog.addText( Logger::TEAM,__FILE__": doCorrectX. power=%.1f",
dash_power );
agent->debugClient().addMessage("CorrectX%.0f", dash_power );
agent->debugClient().setTarget( move_point );
agent->debugClient().addCircle( move_point, x_buf );if(! wm.existKickableOpponent()&& wm.ball().distFromSelf()>30.0){if(!Body_GoToPoint( move_point, x_buf, dash_power
).execute( agent )){
AngleDeg body_angle =( wm.self().body().degree()>0.0?90.0:-90.0);Body_TurnToAngle( body_angle ).execute( agent );}
agent->setNeckAction(newNeck_TurnToBall());returntrue;}doGoToPointLookBall( agent,
move_point,
wm.ball().angleFromSelf(),
x_buf,
dash_power );returntrue;}returnfalse;}/*-------------------------------------------------------------------*//*!
*//*
问题：
无
理解：
这个函数是Bhv_GoalieBasicMove的doCorrectX函数，主要作用是根据自身与球的角度差、地方球员的威胁程度等因素来调节守门员的身体朝向。
By ChenYanTing
*/bool
Bhv_GoalieBasicMove::doCorrectBodyDir( PlayerAgent * agent,const Vector2D & move_point,constbool consider_opp ){// adjust only body directionconst WorldModel & wm = agent->world();const Vector2D ball_next = wm.ball().pos()+ wm.ball().vel();const AngleDeg target_angle =( ball_next.y <0.0?-90.0:90.0);constdouble angle_diff =( wm.self().body()- target_angle ).abs();
dlog.addText( Logger::TEAM,__FILE__": doCorrectBodyDir");if( angle_diff <5.0){returnfalse;}#if 1{const Vector2D goal_c(- ServerParam::i().pitchHalfLength(),0.0);
Vector2D goal_to_ball = wm.ball().pos()- goal_c;if( goal_to_ball.th().abs()>=60.0){
dlog.addText( Logger::TEAM,__FILE__": doCorrectBodyDir. danger area");returnfalse;}}#elseif( wm.ball().pos().x <-36.0&& wm.ball().pos().absY()<15.0&& wm.self().pos().dist( move_point )>1.5){
dlog.addText( Logger::TEAM,__FILE__": doCorrectBodyDir. danger area");returnfalse;}#endifdouble opp_ball_dist
=( wm.opponentsFromBall().empty()?100.0: wm.opponentsFromBall().front()->distFromBall());if(! consider_opp
|| opp_ball_dist >7.0|| wm.ball().distFromSelf()>20.0||( std::fabs( move_point.y - wm.self().pos().y )<1.0// y diff&&! wm.existKickableOpponent())){
dlog.addText( Logger::TEAM,__FILE__": body face to %.1f. angle_diff=%.1f %s",
target_angle.degree(), angle_diff,
consider_opp ?"consider_opp":"");
agent->debugClient().addMessage("CorrectBody%s",
consider_opp ?"WithOpp":"");Body_TurnToAngle( target_angle ).execute( agent );
agent->setNeckAction(newNeck_GoalieTurnNeck());returntrue;}returnfalse;}/*-------------------------------------------------------------------*//*!
*//*
问题：
无
理解：
这个函数是Bhv_GoalieBasicMove的doGoToMovePoint函数，主要作用是根据身体的朝向、目标点与自身的位置等因素来执行移动到目标点的动作。
By ChenYanTing
*/bool
Bhv_GoalieBasicMove::doGoToMovePoint( PlayerAgent * agent,const Vector2D & move_point ){// move to target point// check Y coordinate differenceconst WorldModel & wm = agent->world();double dist_thr = wm.ball().distFromSelf()*0.08;if( dist_thr <0.5) dist_thr =0.5;constdouble y_diff = std::fabs( move_point.y - wm.self().pos().y );if( y_diff < dist_thr ){// already there
dlog.addText( Logger::TEAM,__FILE__": doGoToMovePoint. y_diff=%.2f < thr=%.2f",
y_diff, dist_thr );returnfalse;}//----------------------------------------------------------//// dash to body directiondouble dash_power =getBasicDashPower( agent, move_point );// body direction is OKif( std::fabs( wm.self().body().abs()-90.0)<7.0){// calc dash power only to reach the target pointdouble required_power = y_diff / wm.self().dashRate();if( dash_power > required_power ){
dash_power = required_power;}if( move_point.y > wm.self().pos().y ){if( wm.self().body().degree()<0.0){
dash_power *=-1.0;}}else{if( wm.self().body().degree()>0.0){
dash_power *=-1.0;}}
dash_power = ServerParam::i().normalizeDashPower( dash_power );
dlog.addText( Logger::TEAM,__FILE__": doGoToMovePoint. CorrectY(1) power= %.1f",
dash_power );
agent->debugClient().addMessage("CorrectY(1)%.0f", dash_power );
agent->debugClient().setTarget( move_point );
agent->doDash( dash_power );
agent->setNeckAction(newNeck_GoalieTurnNeck());}else{
dlog.addText( Logger::TEAM,__FILE__": doGoToMovePoint. CorrectPos power= %.1f",
dash_power );
agent->debugClient().addMessage("CorrectPos%.0f", dash_power );
agent->debugClient().setTarget( move_point );
agent->debugClient().addCircle( move_point, dist_thr );doGoToPointLookBall( agent,
move_point,
wm.ball().angleFromSelf(),
dist_thr,
dash_power );}returntrue;}/*-------------------------------------------------------------------*//*!
*//*
问题：
无
理解：
这个函数是Bhv_GoalieBasicMove的doGoToPointLookBall函数，只是在doGoToPoint函数的基础上加了一个Look的动作
By ChenYanTing
*/void
Bhv_GoalieBasicMove::doGoToPointLookBall( PlayerAgent * agent,const Vector2D & target_point,const AngleDeg & body_angle,constdouble& dist_thr,constdouble& dash_power,constdouble& back_power_rate ){const WorldModel & wm = agent->world();if( wm.gameMode().type()== GameMode::PlayOn
|| wm.gameMode().type()== GameMode::PenaltyTaken_ ){
agent->debugClient().addMessage("Goalie:GoToLook");
dlog.addText( Logger::TEAM,__FILE__": doGoToPointLookBall. use GoToPointLookBall");Bhv_GoToPointLookBall( target_point,
dist_thr,
dash_power,
back_power_rate
).execute( agent );}else{
agent->debugClient().addMessage("Goalie:GoTo");
dlog.addText( Logger::TEAM,__FILE__": doGoToPointLookBall. use GoToPoint");if(Body_GoToPoint( target_point, dist_thr, dash_power
).execute( agent )){
dlog.addText( Logger::TEAM,__FILE__": doGoToPointLookBall. go");}else{Body_TurnToAngle( body_angle ).execute( agent );
dlog.addText( Logger::TEAM,__FILE__": doGoToPointLookBall. turn to %.1f",
body_angle.degree());}
agent->setNeckAction(newNeck_TurnToBall());}}
