/*!
*/
void
TackleGenerator::generate( const WorldModel & wm )
{
static GameTime s_update_time( 0, 0 );
if ( s_update_time == wm.time() )
{
// dlog.addText( Logger::CLEAR,
// __FILE__": already updated" );
return;
}
s_update_time = wm.time();
clear();
if ( wm.self().isKickable() )
{
// dlog.addText( Logger::CLEAR,
// __FILE__": kickable" );
return;
}
if ( wm.self().tackleProbability() < 0.001
&& wm.self().foulProbability() < 0.001 )
{
// dlog.addText( Logger::CLEAR,
// __FILE__": never tacklable" );
return;
}
if ( wm.time().stopped() > 0 )
{
// dlog.addText( Logger::CLEAR,
// __FILE__": time stopped" );
return;
}
if ( wm.gameMode().type() != GameMode::PlayOn
&& ! wm.gameMode().isPenaltyKickMode() )
{
// dlog.addText( Logger::CLEAR,
// __FILE__": illegal playmode " );
return;
}
#ifdef DEBUG_PROFILE
MSecTimer timer;
#endif
calculate( wm );
#ifdef DEBUG_PROFILE
dlog.addText( Logger::CLEAR,
__FILE__": PROFILE. elapsed=%.3f [ms]",
timer.elapsedReal() );
#endif
}
/*!
*/
void
Strategy::update( const WorldModel & wm )
{
static GameTime s_update_time( -1, 0 );
if ( s_update_time == wm.time() )
{
return;
}
s_update_time = wm.time();
updateSituation( wm );
updatePosition( wm );
}
/*!
*/
void
ActionChainHolder::update( const WorldModel & wm )
{
static GameTime s_update_time( 0, 0 );
static FieldEvaluator::ConstPtr s_update_evaluator;
static ActionGenerator::ConstPtr s_update_generator;
if ( s_update_time == wm.time()
&& s_update_evaluator == M_evaluator
&& s_update_generator == M_generator )
{
return;
}
s_update_time = wm.time();
s_update_evaluator = M_evaluator;
s_update_generator = M_generator;
M_graph = ActionChainGraph::Ptr( new ActionChainGraph( M_evaluator, M_generator ) );
M_graph->calculate( wm );
}
/*!
*/
void
DebugClient::writeAll( const WorldModel & world,
const ActionEffector & effector )
{
if ( M_on )
{
this->toStr( world, effector );
if ( M_connected )
{
this->send();
}
if ( M_write_mode
&& world.time().stopped() == 0 )
{
this->write( world.time().cycle() );
}
this->clear();
}
}
/*!
*/
Vector2D
Bhv_ChainAction::getKeepBallVel( const WorldModel & wm )
{
static GameTime s_update_time( 0, 0 );
static Vector2D s_best_ball_vel( 0.0, 0.0 );
if ( s_update_time == wm.time() )
{
return s_best_ball_vel;
}
s_update_time = wm.time();
//
//
//
const int ANGLE_DIVS = 12;
const ServerParam & SP = ServerParam::i();
const PlayerType & ptype = wm.self().playerType();
const double collide_dist2 = std::pow( ptype.playerSize()
+ SP.ballSize(),
2 );
const double keep_dist = ptype.playerSize()
+ ptype.kickableMargin() * 0.5
+ ServerParam::i().ballSize();
const Vector2D next_self_pos
= wm.self().pos() + wm.self().vel();
const Vector2D next2_self_pos
= next_self_pos
+ wm.self().vel() * ptype.playerDecay();
//
// create keep target point
//
Vector2D best_ball_vel = Vector2D::INVALIDATED;
int best_opponent_step = 0;
double best_ball_speed = 1000.0;
for ( int a = 0; a < ANGLE_DIVS; ++a )
{
Vector2D keep_pos
= next2_self_pos
+ Vector2D::from_polar( keep_dist,
360.0/ANGLE_DIVS * a );
if ( keep_pos.absX() > SP.pitchHalfLength() - 0.2
|| keep_pos.absY() > SP.pitchHalfWidth() - 0.2 )
{
continue;
}
Vector2D ball_move = keep_pos - wm.ball().pos();
double ball_speed = ball_move.r() / ( 1.0 + SP.ballDecay() );
Vector2D max_vel
= KickTable::calc_max_velocity( ball_move.th(),
wm.self().kickRate(),
wm.ball().vel() );
if ( max_vel.r2() < std::pow( ball_speed, 2 ) )
{
continue;
}
Vector2D ball_next_next = keep_pos;
Vector2D ball_vel = ball_move.setLengthVector( ball_speed );
Vector2D ball_next = wm.ball().pos() + ball_vel;
if ( next_self_pos.dist2( ball_next ) < collide_dist2 )
{
ball_next_next = ball_next;
ball_next_next += ball_vel * ( SP.ballDecay() * -0.1 );
}
#ifdef DEBUG_PRINT
dlog.addText( Logger::TEAM,
__FILE__": (getKeepBallVel) %d: ball_move th=%.1f speed=%.2f max=%.2f",
a,
ball_move.th().degree(),
ball_speed,
max_vel.r() );
dlog.addText( Logger::TEAM,
__FILE__": __ ball_next=(%.2f %.2f) ball_next2=(%.2f %.2f)",
ball_next.x, ball_next.y,
ball_next_next.x, ball_next_next.y );
#endif
//
// check opponent
//
int min_step = 1000;
for ( PlayerPtrCont::const_iterator o = wm.opponentsFromSelf().begin();
o != wm.opponentsFromSelf().end();
++o )
{
if ( (*o)->distFromSelf() > 10.0 )
{
break;
}
int o_step = FieldAnalyzer::predict_player_reach_cycle( *o,
ball_next_next,
(*o)->playerTypePtr()->kickableArea(),
0.0, // penalty distance
1, // body count thr
1, // default turn step
0, // wait cycle
true );
if ( o_step <= 0 )
{
break;
}
if ( o_step < min_step )
{
min_step = o_step;
}
}
#ifdef DEBUG_PRINT
dlog.addText( Logger::TEAM,
__FILE__": (getKeepBallVel) %d: keepPos=(%.2f %.2f)"
" ballNext2=(%.2f %.2f) ballVel=(%.2f %.2f) speed=%.2f o_step=%d",
a,
keep_pos.x, keep_pos.y,
ball_next_next.x, ball_next_next.y,
ball_vel.x, ball_vel.y,
ball_speed,
min_step );
#endif
if ( min_step > best_opponent_step )
{
best_ball_vel = ball_vel;
best_opponent_step = min_step;
best_ball_speed = ball_speed;
}
else if ( min_step == best_opponent_step )
{
if ( best_ball_speed > ball_speed )
{
best_ball_vel = ball_vel;
best_opponent_step = min_step;
best_ball_speed = ball_speed;
}
}
}
s_best_ball_vel = best_ball_vel;
return s_best_ball_vel;
}
/*!
*/
void
ShootGenerator::generate( const WorldModel & wm, bool consider_shot_distance )
{
#ifdef __APPLE__
static GameTime s_update_time( 0, 0 );
#else
static thread_local GameTime s_update_time( 0, 0 );
#endif
if ( s_update_time == wm.time() )
{
return;
}
s_update_time = wm.time();
clear();
if ( ! wm.self().isKickable()
&& wm.interceptTable()->selfReachCycle() > 1 )
{
return;
}
if ( wm.time().stopped() > 0
|| wm.gameMode().type() == GameMode::KickOff_
// || wm.gameMode().type() == GameMode::KickIn_
|| wm.gameMode().type() == GameMode::IndFreeKick_ )
{
return;
}
const ServerParam & SP = ServerParam::i();
if ( consider_shot_distance &&
wm.self().pos().dist2( SP.theirTeamGoalPos() ) > std::pow( 30.0, 2 ) )
{
#ifdef DEBUG_PRINT
dlog.addText( Logger::SHOOT,
__FILE__": over shootable distance" );
#endif
return;
}
M_first_ball_pos = ( wm.self().isKickable()
? wm.ball().pos()
: wm.ball().pos() + wm.ball().vel() );
#ifdef DEBUG_PROFILE
MSecTimer timer;
#endif
Vector2D goal_l( SP.pitchHalfLength(), -SP.goalHalfWidth() );
Vector2D goal_r( SP.pitchHalfLength(), +SP.goalHalfWidth() );
goal_l.y += std::min( 1.5,
0.6 + goal_l.dist( M_first_ball_pos ) * 0.042 );
goal_r.y -= std::min( 1.5,
0.6 + goal_r.dist( M_first_ball_pos ) * 0.042 );
if ( wm.self().pos().x > SP.pitchHalfLength() - 1.0
&& wm.self().pos().absY() < SP.goalHalfWidth() )
{
goal_l.x = wm.self().pos().x + 1.5;
goal_r.x = wm.self().pos().x + 1.5;
}
const int DIST_DIVS = 25;
const double dist_step = std::fabs( goal_l.y - goal_r.y ) / ( DIST_DIVS - 1 );
#ifdef DEBUG_PRINT
dlog.addText( Logger::SHOOT,
__FILE__": ===== Shoot search range=(%.1f %.1f)-(%.1f %.1f) dist_step=%.1f =====",
goal_l.x, goal_l.y, goal_r.x, goal_r.y, dist_step );
#endif
for ( int i = 0; i < DIST_DIVS; ++i )
{
++M_total_count;
Vector2D target_point = goal_l;
target_point.y += dist_step * i;
#ifdef DEBUG_PRINT
dlog.addText( Logger::SHOOT,
"%d: ===== shoot target(%.2f %.2f) ===== ",
M_total_count,
target_point.x, target_point.y );
#endif
createShoot( wm, target_point );
}
evaluateCourses( wm );
#ifdef DEBUG_PROFILE
dlog.addText( Logger::SHOOT,
__FILE__": PROFILE %d/%d. elapsed=%.3f [ms]",
(int)M_courses.size(),
DIST_DIVS,
timer.elapsedReal() );
#endif
}
/*!
*/
void
ActGen_SimpleDribble::generate( std::vector< ActionStatePair > * result,
const PredictState & state,
const WorldModel & current_wm,
const std::vector< ActionStatePair > & path ) const
{
static thread_local GameTime s_last_call_time( 0, 0 );
static thread_local int s_action_count = 0;
if ( current_wm.time() != s_last_call_time )
{
s_action_count = 0;
s_last_call_time = current_wm.time();
}
if ( path.empty() )
{
return;
}
const AbstractPlayerObject * holder = state.ballHolder();
if ( ! holder )
{
return;
}
const int ANGLE_DIVS = 8;
const double ANGLE_STEP = 360.0 / ANGLE_DIVS;
const int DIST_DIVS = 3;
const double DIST_STEP = 1.75;
const ServerParam & SP = ServerParam::i();
const double max_x= SP.pitchHalfLength() - 1.0;
const double max_y= SP.pitchHalfWidth() - 1.0;
const int bonus_step = 2;
const PlayerType * ptype = holder->playerTypePtr();
int generated_count = 0;
for ( int a = 0; a < ANGLE_DIVS; ++a )
{
const AngleDeg target_angle = ANGLE_STEP * a;
if ( holder->pos().x < 16.0
&& target_angle.abs() > 100.0 )
{
#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION_CHAIN,
__FILE__": %d: (%.2f %.2f) danger angle(1) %.1f",
generated_count,
target_angle.degree() );
#endif
continue;
}
if ( holder->pos().x < -36.0
&& holder->pos().absY() < 20.0
&& target_angle.abs() > 45.0 )
{
#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION_CHAIN,
__FILE__": %d: (%.2f %.2f) danger angle(2) %.1f",
generated_count,
target_angle.degree() );
#endif
continue;
}
const Vector2D unit_vec = Vector2D::from_polar( 1.0, target_angle );
for ( int d = 1; d <= DIST_DIVS; ++d )
{
const double holder_move_dist = DIST_STEP * d;
const Vector2D target_point
= holder->pos()
+ unit_vec.setLengthVector( holder_move_dist );
if ( target_point.absX() > max_x
|| target_point.absY() > max_y )
{
#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION_CHAIN,
__FILE__": %d: (%.2f %.2f) out of pitch.",
generated_count,
target_point.x, target_point.y );
#endif
continue;
}
const int holder_reach_step
= 1 + 1 // kick + turn
+ ptype->cyclesToReachDistance( holder_move_dist - ptype->kickableArea() * 0.5 );
//
// check opponent
//
bool exist_opponent = false;
for ( PlayerCont::const_iterator o = state.opponents().begin();
o != state.opponents().end();
++o )
{
double opp_move_dist = o->pos().dist( target_point );
int o_step
= 1 // turn step
+ o->playerTypePtr()->cyclesToReachDistance( opp_move_dist - ptype->kickableArea() );
if ( o_step - bonus_step <= holder_reach_step )
{
exist_opponent = true;
break;
}
}
if ( exist_opponent )
{
#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION_CHAIN,
__FILE__": %d: (%.2f %.2f) exist opponent.",
generated_count, target_point.x, target_point.y );
#endif
continue;
}
const double ball_speed = SP.firstBallSpeed( state.ball().pos().dist( target_point ),
holder_reach_step );
PredictState::ConstPtr result_state( new PredictState( state,
holder_reach_step,
holder->unum(),
target_point ) );
CooperativeAction::Ptr action( new Dribble( holder->unum(),
target_point,
ball_speed,
1,
1,
holder_reach_step - 2,
"actgenDribble" ) );
++s_action_count;
++generated_count;
action->setIndex( s_action_count );
result->push_back( ActionStatePair( action, result_state ) );
}
}
#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION_CHAIN,
__FILE__": Dribble path=%d, holder=%d generated=%d/%d",
path.size(),
holder->unum(),
generated_count, s_action_count );
#endif
}
/*!
*/
void
DebugClient::toStr( const WorldModel & world,
const ActionEffector & effector )
{
std::ostringstream ostr;
ostr << "((debug (format-version 3)) (time "
<< world.time().cycle() << ")";
// self
/*
SELF ::= (s SIDE PLAYER_NUMBER POS_X POS_Y VEL_X VEL_Y
BODY_DIRECTION FACE_DIRECTION [(c "COMMENT")])
where SIDE is 'l' or 'r'.
where PLAYER_NUMBER is 1 to 11.
where POS_X and POS_Y is absolute coordinate.
where VEL_X and VEL_Y is absolute velocity.
where BODY_DIRECTION is absolute player body direction (degree).
where NECK_DIRECTION is body relative face direction (degree).
This is equals to (absolute_face_direction - BODY_DIRECTION).
where COMMENT is a string.
Typically, it is used as information accuracy.
*/
if ( world.self().posValid() )
{
ostr << " (s "
<< ( world.ourSide() == LEFT ? "l " : "r " )
<< world.self().unum() << ' '
<< ROUND(world.self().pos().x, 0.01) << ' '
<< ROUND(world.self().pos().y, 0.01) << ' '
<< ROUND(world.self().vel().x, 0.01) << ' '
<< ROUND(world.self().vel().y, 0.01) << ' '
<< ROUND(world.self().body().degree(), 0.1) << ' '
<< ROUND(world.self().neck().degree(), 0.1) << " (c \""
<< world.self().posCount() << ' '
//<< '(' << ROUND(world.self().posError().x, 0.001)
//<< ", " << ROUND(world.self().posError().y, 0.001) << ") "
<< world.self().velCount() << ' '
<< world.self().faceCount();
if ( world.self().card() == YELLOW ) ostr << "y";
ostr << "\"))";
}
// ball
/*
BALL_INFO ::= (b POS_X POS_Y [VEL_X VEL_Y] [(c "COMMENT")])
*/
if ( world.ball().posValid() )
{
ostr << " (b "
<< ROUND(world.ball().pos().x, 0.01) << ' '
<< ROUND(world.ball().pos().y, 0.01);
if ( world.ball().velValid() )
{
ostr << ' ' << ROUND(world.ball().vel().x, 0.01)
<< ' ' << ROUND(world.ball().vel().y, 0.01);
}
ostr << " (c \"g" << world.ball().posCount()
<< 'r' << world.ball().rposCount()
//<< "(" << ROUND(world.ball().rpos().x, 0.01)
// << ", " << ROUND(world.ball().rpos().y, 0.01) << ')'
<< 'v' << world.ball().velCount()
//<< "(" << ROUND(world.ball().vel().x, 0.01)
// << ", " << ROUND(world.ball().vel().y, 0.01) << ')'
<< "\"))";
}
// players
/*
PLAYER_INFO ::= (TEAM [PLAYER_NUMBER] POS_X POS_Y
[(bd BODY_DIRECTION)] [(c "COMMENT")])
TEAM is one of follows.
't' (teammate), 'o' (opponent),
'u' (unknown), 'ut' (unknown teammate), 'ut' (unknown opponent).
When TEAM is 't' or 'o', PLAYER_NUMBER must be specified.
Otherwise PLAYER_NUMBER must not be specified.
Body direction and comment is optional.
*/
std::for_each( world.teammates().begin(),
world.teammates().end(),
PlayerPrinter( ostr, 't' ) );
std::for_each( world.opponents().begin(),
world.opponents().end(),
PlayerPrinter( ostr, 'o' ) );
std::for_each( world.unknownPlayers().begin(),
world.unknownPlayers().end(),
PlayerPrinter( ostr, 'u' ) );
// say message
if ( ! effector.getSayMessage().empty() )
{
ostr << " (say \"";
for ( std::vector< const SayMessage * >::const_iterator it = effector.sayMessageCont().begin();
it != effector.sayMessageCont().end();
++it )
{
(*it)->printDebug( ostr );
}
ostr << " {" << effector.getSayMessage() << "}\")";
}
// heard information
if ( world.audioMemory().time() == world.time() )
{
ostr << " (hear ";
world.audioMemory().printDebug( ostr );
ostr << ')';
}
// target number
if ( M_target_unum != Unum_Unknown )
{
ostr << " (target-teammate " << M_target_unum << ")";
}
// target point
if ( M_target_point.isValid() )
{
ostr << " (target-point "
<< M_target_point.x << " " << M_target_point.y
<< ")";
}
// message
if ( ! M_message.empty() )
{
ostr << " (message \"" << M_message << "\")";
}
// lines
std::for_each( M_lines.begin(), M_lines.end(),
LinePrinter( ostr ) );
// triangles
std::for_each( M_triangles.begin(), M_triangles.end(),
TrianglePrinter( ostr ) );
// rectangles
std::for_each( M_rectangles.begin(), M_rectangles.end(),
RectPrinter( ostr ) );
// circles
std::for_each( M_circles.begin(), M_circles.end(),
CirclePrinter( ostr ) );
ostr << ")";
M_main_buffer.assign( ostr.str() );
}
/*!
*/
void
CrossGenerator::generate( const WorldModel & wm )
{
static thread_local GameTime s_update_time( -1, 0 );
if ( s_update_time == wm.time() )
{
return;
}
s_update_time = wm.time();
clear();
if ( wm.time().stopped() > 0
|| wm.gameMode().isPenaltyKickMode() )
{
return;
}
#ifdef DEBUG_PROFILE
Timer timer;
#endif
updatePasser( wm );
if ( ! M_passer
|| ! M_first_point.isValid() )
{
dlog.addText( Logger::CROSS,
__FILE__" (generate) passer not found." );
return;
}
if ( ServerParam::i().theirTeamGoalPos().dist( M_first_point ) > 35.0 )
{
dlog.addText( Logger::CROSS,
__FILE__" (generate) first point(%.1f %.1f) is too far from the goal.",
M_first_point.x, M_first_point.y );
return;
}
updateReceivers( wm );
if ( M_receiver_candidates.empty() )
{
dlog.addText( Logger::CROSS,
__FILE__" (generate) no receiver." );
return;
}
updateOpponents( wm );
createCourses( wm );
#ifdef DEBUG_PROFILE
dlog.addText( Logger::CROSS,
__FILE__" (generate) PROFILE course_size=%d/%d elapsed %f [ms]",
(int)M_courses.size(),
M_total_count,
timer.elapsedReal() );
#endif
}
/*!
*/
void
Strategy::updatePosition( const WorldModel & wm )
{
static GameTime s_update_time( 0, 0 );
if ( s_update_time == wm.time() )
{
return;
}
s_update_time = wm.time();
Formation::Ptr f = getFormation( wm );
if ( ! f )
{
std::cerr << wm.teamName() << ':' << wm.self().unum() << ": "
<< wm.time()
<< " ***ERROR*** could not get the current formation" << std::endl;
return;
}
int ball_step = 0;
if ( wm.gameMode().type() == GameMode::PlayOn
|| wm.gameMode().type() == GameMode::GoalKick_ )
{
ball_step = std::min( 1000, wm.interceptTable()->teammateReachCycle() );
ball_step = std::min( ball_step, wm.interceptTable()->opponentReachCycle() );
ball_step = std::min( ball_step, wm.interceptTable()->selfReachCycle() );
}
Vector2D ball_pos = wm.ball().inertiaPoint( ball_step );
dlog.addText( Logger::TEAM,
__FILE__": HOME POSITION: ball pos=(%.1f %.1f) step=%d",
ball_pos.x, ball_pos.y,
ball_step );
M_positions.clear();
f->getPositions( ball_pos, M_positions );
if ( ServerParam::i().useOffside() )
{
double max_x = wm.offsideLineX();
if ( ServerParam::i().kickoffOffside()
&& ( wm.gameMode().type() == GameMode::BeforeKickOff
|| wm.gameMode().type() == GameMode::AfterGoal_ ) )
{
max_x = 0.0;
}
else
{
int mate_step = wm.interceptTable()->teammateReachCycle();
if ( mate_step < 50 )
{
Vector2D trap_pos = wm.ball().inertiaPoint( mate_step );
if ( trap_pos.x > max_x ) max_x = trap_pos.x;
}
max_x -= 1.0;
}
for ( int unum = 1; unum <= 11; ++unum )
{
if ( M_positions[unum-1].x > max_x )
{
dlog.addText( Logger::TEAM,
"____ %d offside. home_pos_x %.2f -> %.2f",
unum,
M_positions[unum-1].x, max_x );
M_positions[unum-1].x = max_x;
}
}
}
M_position_types.clear();
for ( int unum = 1; unum <= 11; ++unum )
{
PositionType type = Position_Center;
if ( f->isSideType( unum ) )
{
type = Position_Left;
}
else if ( f->isSymmetryType( unum ) )
{
type = Position_Right;
}
M_position_types.push_back( type );
dlog.addText( Logger::TEAM,
"__ %d home pos (%.2f %.2f) type=%d",
unum,
M_positions[unum-1].x, M_positions[unum-1].y,
type );
dlog.addCircle( Logger::TEAM,
M_positions[unum-1], 0.5,
"#000000" );
}
}