/*!
*/
void
ShootGenerator::evaluateCourses( const WorldModel & wm )
{
const double y_dist_thr2 = std::pow( 8.0, 2 );
const ServerParam & SP = ServerParam::i();
const PlayerObject * goalie = wm.getOpponentGoalie();
const AngleDeg goalie_angle = ( goalie
? ( goalie->pos() - M_first_ball_pos ).th()
: 180.0 );
const Container::iterator end = M_courses.end();
for ( Container::iterator it = M_courses.begin();
it != end;
++it )
{
double score = 1.0;
if ( it->kick_step_ == 1 )
{
score += 50.0;
}
if ( it->goalie_never_reach_ )
{
score += 100.0;
}
if ( it->opponent_never_reach_ )
{
score += 100.0;
}
double goalie_rate = 1.0;
if ( goalie )
{
#if 1
double variance2 = ( it->goalie_never_reach_
? 1.0 // 1.0*1.0
: std::pow( 10.0, 2 ) );
double angle_diff = ( it->ball_move_angle_ - goalie_angle ).abs();
goalie_rate = 1.0 - std::exp( - std::pow( angle_diff, 2 )
/ ( 2.0 * variance2 ) );
#else
double angle_diff = ( it->ball_move_angle_ - goalie_angle ).abs();
goalie_rate = 1.0 - std::exp( - std::pow( angle_diff * 0.1, 2 )
// / ( 2.0 * 90.0 * 0.1 ) );
// / ( 2.0 * 40.0 * 0.1 ) ); // 2009-07
// / ( 2.0 * 90.0 * 0.1 ) ); // 2009-12-13
/ ( 2.0 * 20.0 * 0.1 ) ); // 2010-06-09
#endif
}
double y_rate = 1.0;
if ( it->target_point_.dist2( M_first_ball_pos ) > y_dist_thr2 )
{
double y_dist = std::max( 0.0, it->target_point_.absY() - 4.0 );
y_rate = std::exp( - std::pow( y_dist, 2.0 )
/ ( 2.0 * std::pow( SP.goalHalfWidth() - 1.5, 2 ) ) );
}
#ifdef DEBUG_PRINT_EVALUATE
dlog.addText( Logger::SHOOT,
"(shoot eval) %d: score=%f(%f) pos(%.2f %.2f) speed=%.3f goalie_rate=%f y_rate=%f",
it->index_,
score * goalie_rate * y_rate, score,
it->target_point_.x, it->target_point_.y,
it->first_ball_speed_,
goalie_rate,
y_rate );
#endif
score *= goalie_rate;
score *= y_rate;
it->score_ = score;
}
}
/*!
*/
void
ShootGenerator::createShoot( const WorldModel & wm,
const Vector2D & target_point )
{
const AngleDeg ball_move_angle = ( target_point - M_first_ball_pos ).th();
const PlayerObject * goalie = wm.getOpponentGoalie();
if ( goalie
&& 5 < goalie->posCount()
&& goalie->posCount() < 30
&& wm.dirCount( ball_move_angle ) > 3 )
{
#ifdef DEBUG_PRINT
dlog.addText( Logger::SHOOT,
"%d: __ xxx goalie_count=%d, low dir accuracy",
M_total_count,
goalie->posCount() );
#endif
return;
}
const ServerParam & SP = ServerParam::i();
const double ball_speed_max = ( wm.gameMode().type() == GameMode::PlayOn
|| wm.gameMode().isPenaltyKickMode()
? SP.ballSpeedMax()
: wm.self().kickRate() * SP.maxPower() );
const double ball_move_dist = M_first_ball_pos.dist( target_point );
const Vector2D max_one_step_vel
= ( wm.self().isKickable()
? KickTable::calc_max_velocity( ball_move_angle,
wm.self().kickRate(),
wm.ball().vel() )
: ( target_point - M_first_ball_pos ).setLengthVector( 0.1 ) );
const double max_one_step_speed = max_one_step_vel.r();
double first_ball_speed
= std::max( ( ball_move_dist + 5.0 ) * ( 1.0 - SP.ballDecay() ),
std::max( max_one_step_speed,
1.5 ) );
bool over_max = false;
#ifdef DEBUG_PRINT_FAILED_COURSE
bool success = false;
#endif
while ( ! over_max )
{
if ( first_ball_speed > ball_speed_max - 0.001 )
{
over_max = true;
first_ball_speed = ball_speed_max;
}
if ( createShoot( wm,
target_point,
first_ball_speed,
ball_move_angle,
ball_move_dist ) )
{
Course & course = M_courses.back();
if ( first_ball_speed <= max_one_step_speed + 0.001 )
{
course.kick_step_ = 1;
}
#ifdef DEBUG_PRINT_SUCCESS_COURSE
dlog.addText( Logger::SHOOT,
"%d: ok shoot target=(%.2f %.2f)"
" speed=%.3f angle=%.1f",
M_total_count,
target_point.x, target_point.y,
first_ball_speed,
ball_move_angle.degree() );
dlog.addRect( Logger::SHOOT,
target_point.x - 0.1, target_point.y - 0.1,
0.2, 0.2,
"#00ff00" );
char num[8];
snprintf( num, 8, "%d", M_total_count );
dlog.addMessage( Logger::SHOOT,
target_point, num, "#ffffff" );
#endif
#ifdef DEBUG_PRINT_FAILED_COURSE
success = true;
#endif
#ifdef SEARCH_UNTIL_MAX_SPEED_AT_SAME_POINT
if ( course.goalie_never_reach_
&& course.opponent_never_reach_ )
{
return;
}
++M_total_count;
#else
return;
#endif
}
first_ball_speed += 0.3;
}
#ifdef DEBUG_PRINT_FAILED_COURSE
if ( success )
{
return;
}
dlog.addText( Logger::SHOOT,
"%d: xxx shoot target=(%.2f %.2f)"
" speed=%.3f angle=%.1f",
M_total_count,
target_point.x, target_point.y,
first_ball_speed,
ball_move_angle.degree() );
dlog.addRect( Logger::SHOOT,
target_point.x - 0.1, target_point.y - 0.1,
0.2, 0.2,
"#ff0000" );
char num[8];
snprintf( num, 8, "%d", M_total_count );
dlog.addMessage( Logger::SHOOT,
target_point, num, "#ffffff" );
#endif
}