void ai09::penalty_their_simple ( void )
{
float penalty_x = field_width - 85.0;
int index = findKickerOpp(-1);
if ( index == -1 )
{
OwnRobot[gk].target.Angle = (1+side)*90.0f;
Navigate2Point ( gk , Vec2 ( side*penalty_x , 0 ) );
}
else
{
float gkp_y = Line::makeLineFromTwoPoints ( VecPosition ( OppRobot[index].Position.X , OppRobot[index].Position.Y ) , VecPosition ( ball.Position.X , ball.Position.Y ) ).getIntersection ( Line::makeLineFromTwoPoints ( VecPosition ( side * penalty_x , 100 ) , VecPosition ( side * penalty_x , -100 ) ) ).getY ( );
float max_reach_y = (goal_width/2.0) - 100.0;
if(max_reach_y > 250)
max_reach_y = 250;
if(max_reach_y < -250)
max_reach_y = -250;
OwnRobot[gk].face(ball.Position);
Navigate2Point ( gk , Vec2 ( side * penalty_x , gkp_y ) );
}
ERRTSetObstacles ( def , true , true , true , true );
ERRTNavigate2Point ( def , Vec2 ( side*2000 , 500 ) );
ERRTSetObstacles ( dmf , true , true , true , true );
ERRTNavigate2Point ( dmf , Vec2 ( side*2000 , -500 ) );
ERRTSetObstacles ( mid1 , true , true , true , true );
ERRTNavigate2Point ( mid1, Vec2 ( side*2000 , -800 ) );
ERRTSetObstacles ( mid2 , true , true , true , true );
ERRTNavigate2Point ( mid2, Vec2 ( side*2000 , 800 ) );
ERRTSetObstacles ( attack , true , true , true , true );
ERRTNavigate2Point ( attack , Vec2 ( side*2000 , 0 ) );
}
void ai09::TwoDef ( int robot_num1 , int robot_num2 , TVec2 * defendTarget )
{
if ( !defendTarget )
defendTarget = &(ball.Position);
VecPosition* p1 = new VecPosition ( );
VecPosition* p2 = new VecPosition ( );
OwnRobot[robot_num1].face ( (*defendTarget));
OwnRobot[robot_num2].face ( (*defendTarget));
TVec2 num1Target , num2Target ;
if ( ( Line::makeLineFromTwoPoints(VecPosition(side*field_width,-175.0f),VecPosition((*defendTarget).X , (*defendTarget).Y)).getCircleIntersectionPoints(Circle (VecPosition(side*field_width,-175.0f),750.0f),p1,p2) ) &&
( (*defendTarget).Y < -175.0f ) )
{
if ( p1->getY() <= -175.0f )
{
num1Target = Vec2 ( p1->getX() , p1->getY() );
}
else
{
num1Target = Vec2 ( p2->getX() , p2->getY() );
}
}
else if ( ( Line::makeLineFromTwoPoints(VecPosition(side*field_width,-175.0f),VecPosition((*defendTarget).X , (*defendTarget).Y)).getCircleIntersectionPoints(Circle (VecPosition(side*field_width,175.0f),750.0f),p1,p2) ) &&
( ( p1->getY ( ) > 175.0f ) && ( fabs ( p1->getX() ) < field_width ) || ( p2->getY ( ) > 175.0f ) && ( fabs ( p2->getX() ) < field_width ) ) )
{
if ( p1->getY() >= 175.0f )
{
num1Target = Vec2 ( p1->getX() , p1->getY() );
}
else
{
num1Target = Vec2 ( p2->getX() , p2->getY() );
}
}
else
{
*p1 = Line::makeLineFromTwoPoints(VecPosition(side*field_width,-175.0f),VecPosition((*defendTarget).X , (*defendTarget).Y)).getIntersection ( Line::makeLineFromTwoPoints ( VecPosition ( side*2275.0f , 175.0f ) , VecPosition ( side*2275.0f , -175.0f ) ) );
num1Target = Vec2 ( p1->getX() , p1->getY() );
}
ERRTSetObstacles ( robot_num2 , 0 , true , true , false );
if ( ( Line::makeLineFromTwoPoints(VecPosition(side*3025.0f,175.0f),VecPosition((*defendTarget).X , (*defendTarget).Y)).getCircleIntersectionPoints(Circle (VecPosition(side*3025.0f,175.0f),750.0f),p1,p2) ) &&
( (*defendTarget).Y > 175.0f ) )
{
if ( p1->getY() >= 175.0f )
{
num2Target = Vec2 ( p1->getX() , p1->getY() );
}
else
{
num2Target = Vec2 ( p2->getX() , p2->getY() );
}
}
else if ( ( Line::makeLineFromTwoPoints(VecPosition(side*3025.0f,175.0f),VecPosition((*defendTarget).X , (*defendTarget).Y)).getCircleIntersectionPoints(Circle (VecPosition(side*3025.0f,-175.0f),750.0f),p1,p2) ) &&
( ( p1->getY ( ) < -175.0f ) && ( fabs ( p1->getX() ) < 3025.0f ) || ( p2->getY ( ) < -175.0f ) && ( fabs ( p2->getX() ) < 3025.0f ) ) )
{
if ( p1->getY() <= -175.0f )
{
num2Target = Vec2 ( p1->getX() , p1->getY() );
}
else
{
num2Target = Vec2 ( p2->getX() , p2->getY() );
}
}
else
{
*p1 = Line::makeLineFromTwoPoints(VecPosition(side*3025.0f,175.0f),VecPosition((*defendTarget).X , (*defendTarget).Y)).getIntersection ( Line::makeLineFromTwoPoints ( VecPosition ( side*2275.0f , 175.0f ) , VecPosition ( side*2275.0f , -175.0f ) ) );
num2Target = Vec2 ( p1->getX() , p1->getY() );
}
float ballDis1 = DIS ( num1Target , (*defendTarget) );
float ballDis2 = DIS ( num2Target , (*defendTarget) );
if ( 0 )//( min ( ballDis1 , ballDis2 ) < 250 ) && ball.velocity.magnitude < 50 )
{
if ( ( ballDis1 < ballDis2 ) || ((attackingDefHys>0)&&(lastAttackingDef==1)) )
{
if ( ballDis1 < ballDis2 )
{
attackingDefHys = 10;
lastAttackingDef = 1;
}
else
{
lastAttackingDef = 1;
attackingDefHys --;
}
ERRTSetObstacles ( robot_num1 , 0 , 1 , 1 , 0 , 0 );
tech_circle(robot_num1,sgn((*defendTarget).Y)*side*120.0f ,0,15);
ERRTSetObstacles ( robot_num2 , 0 , true , true , false );
ERRTNavigate2Point ( robot_num2 , num2Target );
}
else
{
if ( ballDis2 < ballDis1 )
{
attackingDefHys = 10;
lastAttackingDef = 2;
}
else
{
lastAttackingDef = 2;
attackingDefHys --;
}
ERRTSetObstacles ( robot_num2 , 0 , 1 , 1 , 0 , 0 );
tech_circle(robot_num2,sgn((*defendTarget).Y)*side*120.0f ,0,15);
ERRTSetObstacles ( robot_num1 , 0 , true , true , false );
ERRTNavigate2Point ( robot_num1 , num1Target );
}
}
else
{
ERRTSetObstacles ( robot_num1 , 0 , true , true , false );
ERRTNavigate2Point ( robot_num1 , num1Target );
ERRTSetObstacles ( robot_num2 , 0 , true , true , false );
ERRTNavigate2Point ( robot_num2 , num2Target );
}
//OwnRobot[robot_num1].Chip ( 15 );
//OwnRobot[robot_num2].Chip ( 15 );
free ( p1 );
free ( p2 );
}
/*!This method is the first complete simple team and defines the actions taken
by all the players on the field (excluding the goalie). It is based on the
high-level actions taken by the simple team FC Portugal that it released in
2000. The players do the following:
- if ball is kickable
kick ball to goal (random corner of goal)
- else if i am fastest player to ball
intercept the ball
- else
move to strategic position based on your home position and pos ball */
SoccerCommand Player::deMeer5( )
{
SoccerCommand soc(CMD_ILLEGAL);
VecPosition posAgent = WM->getAgentGlobalPosition();
VecPosition posBall = WM->getBallPos();
int iTmp;
if( WM->isBeforeKickOff( ) )
{
if( WM->isKickOffUs( ) && WM->getPlayerNumber() == 9 ) // 9 takes kick
{
if( WM->isBallKickable() )
{
VecPosition posGoal( PITCH_LENGTH/2.0,
(-1 + 2*(WM->getCurrentCycle()%2)) *
0.4 * SS->getGoalWidth() );
soc = kickTo( posGoal, SS->getBallSpeedMax() ); // kick maximal
Log.log( 100, "take kick off" );
}
else
{
soc = intercept( false );
Log.log( 100, "move to ball to take kick-off" );
}
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
return soc;
}
if( formations->getFormation() != FT_INITIAL || // not in kickoff formation
posAgent.getDistanceTo( WM->getStrategicPosition() ) > 2.0 )
{
formations->setFormation( FT_INITIAL ); // go to kick_off formation
ACT->putCommandInQueue( soc=teleportToPos( WM->getStrategicPosition() ));
}
else // else turn to center
{
ACT->putCommandInQueue( soc=turnBodyToPoint( VecPosition( 0, 0 ), 0 ) );
ACT->putCommandInQueue( alignNeckWithBody( ) );
}
}
else
{
formations->setFormation( FT_433_OFFENSIVE );
soc.commandType = CMD_ILLEGAL;
if( WM->getConfidence( OBJECT_BALL ) < PS->getBallConfThr() )
{
ACT->putCommandInQueue( soc = searchBall() ); // if ball pos unknown
ACT->putCommandInQueue( alignNeckWithBody( ) ); // search for it
}
else if( WM->isBallKickable()) // if kickable
{
VecPosition posGoal( PITCH_LENGTH/2.0,
(-1 + 2*(WM->getCurrentCycle()%2)) * 0.4 * SS->getGoalWidth() );
soc = kickTo( posGoal, SS->getBallSpeedMax() ); // kick maxima
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
Log.log( 100, "kick ball" );
}
else if( WM->getFastestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL, &iTmp )
== WM->getAgentObjectType() && !WM->isDeadBallThem() )
{ // if fastest to ball
Log.log( 100, "I am fastest to ball; can get there in %d cycles", iTmp );
soc = intercept( false ); // intercept the ball
if( soc.commandType == CMD_DASH && // if stamina low
WM->getAgentStamina().getStamina() <
SS->getRecoverDecThr()*SS->getStaminaMax()+200 )
{
soc.dPower = 30.0 * WM->getAgentStamina().getRecovery(); // dash slow
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else // if stamina high
{
ACT->putCommandInQueue( soc ); // dash as intended
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
}
else if( posAgent.getDistanceTo(WM->getStrategicPosition()) >
1.5 + fabs(posAgent.getX()-posBall.getX())/10.0)
// if not near strategic pos
{
if( WM->getAgentStamina().getStamina() > // if stamina high
SS->getRecoverDecThr()*SS->getStaminaMax()+800 )
{
soc = moveToPos(WM->getStrategicPosition(),
PS->getPlayerWhenToTurnAngle());
ACT->putCommandInQueue( soc ); // move to strategic pos
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else // else watch ball
{
ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
}
else if( fabs( WM->getRelativeAngle( OBJECT_BALL ) ) > 1.0 ) // watch ball
{
ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else // nothing to do
ACT->putCommandInQueue( SoccerCommand(CMD_TURNNECK,0.0) );
}
return soc;
}
/*!This method is a simple goalie based on the goalie of the simple Team of
FC Portugal. It defines a rectangle in its penalty area and moves to the
position on this rectangle where the ball intersects if you make a line
between the ball position and the center of the goal. If the ball can
be intercepted in the own penalty area the ball is intercepted and catched.
*/
SoccerCommand Player::deMeer5_goalie( )
{
int i;
SoccerCommand soc;
VecPosition posAgent = WM->getAgentGlobalPosition();
AngDeg angBody = WM->getAgentGlobalBodyAngle();
// define the top and bottom position of a rectangle in which keeper moves
static const VecPosition posLeftTop( -PITCH_LENGTH/2.0 +
0.7*PENALTY_AREA_LENGTH, -PENALTY_AREA_WIDTH/4.0 );
static const VecPosition posRightTop( -PITCH_LENGTH/2.0 +
0.7*PENALTY_AREA_LENGTH, +PENALTY_AREA_WIDTH/4.0 );
// define the borders of this rectangle using the two points.
static Line lineFront = Line::makeLineFromTwoPoints(posLeftTop,posRightTop);
static Line lineLeft = Line::makeLineFromTwoPoints(
VecPosition( -50.0, posLeftTop.getY()), posLeftTop );
static Line lineRight = Line::makeLineFromTwoPoints(
VecPosition( -50.0, posRightTop.getY()),posRightTop );
if( WM->isBeforeKickOff( ) )
{
if( formations->getFormation() != FT_INITIAL || // not in kickoff formation
posAgent.getDistanceTo( WM->getStrategicPosition() ) > 2.0 )
{
formations->setFormation( FT_INITIAL ); // go to kick_off formation
ACT->putCommandInQueue( soc=teleportToPos(WM->getStrategicPosition()) );
}
else // else turn to center
{
ACT->putCommandInQueue( soc = turnBodyToPoint( VecPosition( 0, 0 ), 0 ));
ACT->putCommandInQueue( alignNeckWithBody( ) );
}
return soc;
}
if( WM->getConfidence( OBJECT_BALL ) < PS->getBallConfThr() )
{ // confidence ball too low
ACT->putCommandInQueue( searchBall() ); // search ball
ACT->putCommandInQueue( alignNeckWithBody( ) );
}
else if( WM->getPlayMode() == PM_PLAY_ON || WM->isFreeKickThem() ||
WM->isCornerKickThem() )
{
if( WM->isBallCatchable() )
{
ACT->putCommandInQueue( soc = catchBall() );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else if( WM->isBallKickable() )
{
soc = kickTo( VecPosition(0,posAgent.getY()*2.0), 2.0 );
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else if( WM->isInOwnPenaltyArea( getInterceptionPointBall( &i, true ) ) &&
WM->getFastestInSetTo( OBJECT_SET_PLAYERS, OBJECT_BALL, &i ) ==
WM->getAgentObjectType() )
{
ACT->putCommandInQueue( soc = intercept( true ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else
{
// make line between own goal and the ball
VecPosition posMyGoal = ( WM->getSide() == SIDE_LEFT )
? SoccerTypes::getGlobalPositionFlag(OBJECT_GOAL_L, SIDE_LEFT )
: SoccerTypes::getGlobalPositionFlag(OBJECT_GOAL_R, SIDE_RIGHT);
Line lineBall = Line::makeLineFromTwoPoints( WM->getBallPos(),posMyGoal);
// determine where your front line intersects with the line from ball
VecPosition posIntersect = lineFront.getIntersection( lineBall );
// outside rectangle, use line at side to get intersection
if (posIntersect.isRightOf( posRightTop ) )
posIntersect = lineRight.getIntersection( lineBall );
else if (posIntersect.isLeftOf( posLeftTop ) )
posIntersect = lineLeft.getIntersection( lineBall );
if( posIntersect.getX() < -49.0 )
posIntersect.setX( -49.0 );
// and move to this position
if( posIntersect.getDistanceTo( WM->getAgentGlobalPosition() ) > 0.5 )
{
soc = moveToPos( posIntersect, PS->getPlayerWhenToTurnAngle() );
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else
{
ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
}
}
else if( WM->isFreeKickUs() == true || WM->isGoalKickUs() == true )
{
if( WM->isBallKickable() )
{
if( WM->getTimeSinceLastCatch() == 25 && WM->isFreeKickUs() )
{
// move to position with lesser opponents.
if( WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS,
Circle(posRightTop, 15.0 )) <
WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS,
Circle(posLeftTop, 15.0 )) )
soc.makeCommand( CMD_MOVE,posRightTop.getX(),posRightTop.getY(),0.0);
else
soc.makeCommand( CMD_MOVE,posLeftTop.getX(), posLeftTop.getY(), 0.0);
ACT->putCommandInQueue( soc );
}
else if( WM->getTimeSinceLastCatch() > 28 )
{
soc = kickTo( VecPosition(0,posAgent.getY()*2.0), 2.0 );
ACT->putCommandInQueue( soc );
}
else if( WM->getTimeSinceLastCatch() < 25 )
{
VecPosition posSide( 0.0, posAgent.getY() );
if( fabs( (posSide - posAgent).getDirection() - angBody) > 10 )
{
soc = turnBodyToPoint( posSide );
ACT->putCommandInQueue( soc );
}
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
}
else if( WM->isGoalKickUs() )
{
ACT->putCommandInQueue( soc = intercept( true ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else
{
ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
return soc;
}
