/*!
*/
Strategy::BallArea
Strategy::get_ball_area( const WorldModel & wm )
{
int ball_step = 1000;
ball_step = std::min( ball_step, wm.interceptTable()->teammateReachCycle() );
ball_step = std::min( ball_step, wm.interceptTable()->opponentReachCycle() );
ball_step = std::min( ball_step, wm.interceptTable()->selfReachCycle() );
return get_ball_area( wm.ball().inertiaPoint( ball_step ) );
}
/*!
*/
void
Strategy::updateSituation( const WorldModel & wm )
{
M_current_situation = Normal_Situation;
if ( wm.gameMode().type() != GameMode::PlayOn )
{
if ( wm.gameMode().isPenaltyKickMode() )
{
dlog.addText( Logger::TEAM,
__FILE__": Situation PenaltyKick" );
M_current_situation = PenaltyKick_Situation;
}
else if ( wm.gameMode().isPenaltyKickMode() )
{
dlog.addText( Logger::TEAM,
__FILE__": Situation OurSetPlay" );
M_current_situation = OurSetPlay_Situation;
}
else
{
dlog.addText( Logger::TEAM,
__FILE__": Situation OppSetPlay" );
M_current_situation = OppSetPlay_Situation;
}
return;
}
int self_min = wm.interceptTable()->selfReachCycle();
int mate_min = wm.interceptTable()->teammateReachCycle();
int opp_min = wm.interceptTable()->opponentReachCycle();
int our_min = std::min( self_min, mate_min );
if ( opp_min <= our_min - 2 )
{
dlog.addText( Logger::TEAM,
__FILE__": Situation Defense" );
M_current_situation = Defense_Situation;
return;
}
if ( our_min <= opp_min - 2 )
{
dlog.addText( Logger::TEAM,
__FILE__": Situation Offense" );
M_current_situation = Offense_Situation;
return;
}
dlog.addText( Logger::TEAM,
__FILE__": Situation Normal" );
}
/*!
*/
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
}
/*!
*/
double
Neck_ScanPlayers::calculate_score( const WorldModel & wm,
const Vector2D & next_self_pos,
const AngleDeg & left_angle,
const AngleDeg & right_angle )
{
double score = 0.0;
double view_buffer = 90.0;
const int our_min = std::min( wm.interceptTable()->selfReachCycle(),
wm.interceptTable()->teammateReachCycle() );
const int opp_min = wm.interceptTable()->opponentReachCycle();
const bool our_ball = ( our_min <= opp_min );
const AbstractPlayerCont::const_iterator end = wm.allPlayers().end();
for ( AbstractPlayerCont::const_iterator p = wm.allPlayers().begin();
p != end;
++p )
{
if ( (*p)->isSelf() ) continue;
Vector2D pos = (*p)->pos() + (*p)->vel();
AngleDeg angle = ( pos - next_self_pos ).th();
if ( ! angle.isRightOf( left_angle )
|| ! angle.isLeftOf( right_angle ) )
{
continue;
}
double pos_count = (*p)->seenPosCount();
if ( (*p)->isGhost()
&& (*p)->ghostCount() % 2 == 1 )
{
pos_count = std::min( 2.0, pos_count );
}
pos_count += 1.0;
if ( our_ball )
{
if ( (*p)->side() == wm.ourSide()
&& ( (*p)->pos().x > wm.ball().pos().x - 10.0
|| (*p)->pos().x > 30.0 ) )
{
pos_count *= 2.0;
}
}
double base_val = std::pow( pos_count, 2 );
double rate = std::exp( - std::pow( (*p)->distFromSelf(), 2 )
/ ( 2.0 * std::pow( 20.0, 2 ) ) ); // Magic Number
score += base_val * rate;
double buf = std::min( ( angle - left_angle ).abs(),
( angle - right_angle ).abs() );
#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION,
"__ %c_%d (%.2f %.2f) count=%d base=%f rate=%f +%f buf=%.1f",
(*p)->side() == LEFT ? 'L' : (*p)->side() == RIGHT ? 'R' : 'N',
(*p)->unum(),
(*p)->pos().x, (*p)->pos().y,
(*p)->posCount(),
base_val, rate, base_val * rate,
buf );
#endif
if ( buf < view_buffer )
{
view_buffer = buf;
}
}
// The bigger view buffer, the bigger rate
// range: [1.0:2.0]
// double rate = 2.0 - std::exp( - std::pow( view_buffer, 2 )
// / ( 2.0 * std::pow( 180.0, 2 ) ) ); // Magic Number
double rate = 1.0 + view_buffer / 90.0;
#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION,
"base_score=%.1f view_buf=%.1f rate=%f -> %f",
score,
view_buffer,
rate,
score * rate );
#endif
score *= rate;
return score;
}
/*!
*/
void
CrossGenerator::updatePasser( const WorldModel & wm )
{
if ( wm.self().isKickable()
&& ! wm.self().isFrozen() )
{
M_passer = &wm.self();
M_first_point = wm.ball().pos();
#ifdef DEBUG_UPDATE_PASSER
dlog.addText( Logger::CROSS,
__FILE__" (updatePasser) self kickable." );
#endif
return;
}
int s_min = wm.interceptTable()->selfReachCycle();
int t_min = wm.interceptTable()->teammateReachCycle();
int o_min = wm.interceptTable()->opponentReachCycle();
int our_min = std::min( s_min, t_min );
if ( o_min < std::min( our_min - 4, (int)rint( our_min * 0.9 ) ) )
{
#ifdef DEBUG_UPDATE_PASSER
dlog.addText( Logger::CROSS,
__FILE__" (updatePasser) opponent ball." );
#endif
return;
}
if ( s_min <= t_min )
{
if ( s_min <= 2 )
{
M_passer = &wm.self();
M_first_point = wm.ball().inertiaPoint( s_min );
}
}
else
{
if ( t_min <= 2 )
{
M_passer = wm.interceptTable()->fastestTeammate();
M_first_point = wm.ball().inertiaPoint( t_min );
}
}
if ( ! M_passer )
{
#ifdef DEBUG_UPDATE_PASSER
dlog.addText( Logger::CROSS,
__FILE__" (updatePasser) no passer." );
#endif
return;
}
if ( M_passer->unum() != wm.self().unum() )
{
if ( M_first_point.dist2( wm.self().pos() ) > std::pow( 20.0, 2 ) )
{
M_passer = static_cast< const AbstractPlayerObject * >( 0 );
#ifdef DEBUG_UPDATE_PASSER
dlog.addText( Logger::CROSS,
__FILE__" (updatePasser) passer is too far." );
#endif
return;
}
}
#ifdef DEBUG_UPDATE_PASSER
dlog.addText( Logger::CROSS,
__FILE__" (updatePasser) passer=%d(%.1f %.1f) reachStep=%d startPos=(%.1f %.1f)",
M_passer->unum(),
M_passer->pos().x, M_passer->pos().y,
t_min,
M_first_point.x, M_first_point.y );
#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" );
}
}
/*!
*/
double
Strategy::get_normal_dash_power( const WorldModel & wm )
{
static bool s_recover_mode = false;
if ( wm.self().staminaModel().capacityIsEmpty() )
{
return std::min( ServerParam::i().maxDashPower(),
wm.self().stamina() + wm.self().playerType().extraStamina() );
}
const int self_min = wm.interceptTable()->selfReachCycle();
const int mate_min = wm.interceptTable()->teammateReachCycle();
const int opp_min = wm.interceptTable()->opponentReachCycle();
// check recover
if ( wm.self().staminaModel().capacityIsEmpty() )
{
s_recover_mode = false;
}
else if ( wm.self().stamina() < ServerParam::i().staminaMax() * 0.5 )
{
s_recover_mode = true;
}
else if ( wm.self().stamina() > ServerParam::i().staminaMax() * 0.7 )
{
s_recover_mode = false;
}
/*--------------------------------------------------------*/
double dash_power = ServerParam::i().maxDashPower();
const double my_inc
= wm.self().playerType().staminaIncMax()
* wm.self().recovery();
if ( wm.ourDefenseLineX() > wm.self().pos().x
&& wm.ball().pos().x < wm.ourDefenseLineX() + 20.0 )
{
dlog.addText( Logger::TEAM,
__FILE__": (get_normal_dash_power) correct DF line. keep max power" );
// keep max power
dash_power = ServerParam::i().maxDashPower();
}
else if ( s_recover_mode )
{
dash_power = my_inc - 25.0; // preffered recover value
if ( dash_power < 0.0 ) dash_power = 0.0;
dlog.addText( Logger::TEAM,
__FILE__": (get_normal_dash_power) recovering" );
}
// exist kickable teammate
else if ( wm.existKickableTeammate()
&& wm.ball().distFromSelf() < 20.0 )
{
dash_power = std::min( my_inc * 1.1,
ServerParam::i().maxDashPower() );
dlog.addText( Logger::TEAM,
__FILE__": (get_normal_dash_power) exist kickable teammate. dash_power=%.1f",
dash_power );
}
// in offside area
else if ( wm.self().pos().x > wm.offsideLineX() )
{
dash_power = ServerParam::i().maxDashPower();
dlog.addText( Logger::TEAM,
__FILE__": in offside area. dash_power=%.1f",
dash_power );
}
else if ( wm.ball().pos().x > 25.0
&& wm.ball().pos().x > wm.self().pos().x + 10.0
&& self_min < opp_min - 6
&& mate_min < opp_min - 6 )
{
dash_power = bound( ServerParam::i().maxDashPower() * 0.1,
my_inc * 0.5,
ServerParam::i().maxDashPower() );
dlog.addText( Logger::TEAM,
__FILE__": (get_normal_dash_power) opponent ball dash_power=%.1f",
dash_power );
}
// normal
else
{
dash_power = std::min( my_inc * 1.7,
ServerParam::i().maxDashPower() );
dlog.addText( Logger::TEAM,
__FILE__": (get_normal_dash_power) normal mode dash_power=%.1f",
dash_power );
}
return dash_power;
}