/** 以最快的方式跑到目标点
* Run to the destination point with the fastest method.
* \param agent the agent itself.
* \param act an atomic action caculated to go to pos for this cycle.
* \param pos the destination point.
* \param buffer point buffer, means the real destinantion is a cycle with the certer
* of pos and radius of buffer.
* \param power the intend power to use.
* \param can_inverse true means can run in the inverse direction of the agent's body.
* \param turn_first true means that the agent should turn first to adjust the direction.
*/
void Dasher::GoToPoint(Agent & agent, AtomicAction & act, Vector target, double buffer, double power, bool can_inverse, bool turn_first)
{
act.Clear();
const Vector & my_pre_pos = agent.Self().GetPredictedPos(1);
double dist = my_pre_pos.Dist(target);
if (dist < buffer){
act.mSucceed = true;
return;
}
AngleDeg dirdiff = GetNormalizeAngleDeg((target - my_pre_pos).Dir() - agent.GetSelf().GetBodyDir());
if (fabs(dirdiff) < 90.0){
can_inverse = false; //不需要倒着跑
}
bool inverse = false;
if (can_inverse){
int cycle = CycleNeedToPointWithCertainPosture(agent.Self(), target, true);
if (cycle < 9 && cycle < CycleNeedToPointWithCertainPosture(agent.Self(), target, false)){
inverse = true;
}
}
GoToPointWithCertainPosture(agent, act, target, buffer, power, inverse, turn_first);
}
DecisionData::DecisionData(Agent & agent):
mAgent ( agent ),
mWorldState ( agent.World() ),
mBallState ( agent.World().Ball() ),
mSelfState ( agent.Self() ),
mInfoState ( agent.Info())
{
}
BehaviorAttackData::BehaviorAttackData(Agent & agent):
mAgent ( agent ),
mWorldState ( agent.GetWorldState() ),
mBallState ( agent.GetWorldState().GetBall() ),
mSelfState ( agent.Self() ),
mPositionInfo ( agent.Info().GetPositionInfo()),
mInterceptInfo ( agent.Info().GetInterceptInfo()),
mStrategy (agent.GetStrategy()),
mFormation ( agent.GetFormation() )
{
mFormation.Update(Formation::Offensive, "Offensive");
}
/** 以确定的姿势（指倒着跑和正跑），跑到目标点
* Run to the destination point with a certain posture, forward or backword.
* \param agent the agent itself.
* \param act an atomic action caculated to go to pos for this cycle.
* \param pos the destination point.
* \param buffer point buffer, means the real destinantion is a cycle with the center
* of pos and radius of buffer.
* \param power the intend power to use.
* \param inverse true means run backward.
* \param turn_first true means that the agent should turn first to adjust the direction.
*/
void Dasher::GoToPointWithCertainPosture(Agent & agent, AtomicAction & act, Vector target, double buffer, double power, const bool inverse, bool turn_first)
{
act.Clear();
const Vector & my_pre_pos = agent.Self().GetPredictedPos(1);
double dist = my_pre_pos.Dist(target);
AngleDeg dirdiff = inverse? GetNormalizeAngleDeg((my_pre_pos - target).Dir() - agent.GetSelf().GetBodyDir()): GetNormalizeAngleDeg((target - my_pre_pos).Dir() - agent.GetSelf().GetBodyDir()); //需要转身的角度
double bufang;
buffer = Max(0.05, buffer); //TODO: wait test
if (buffer > FLOAT_EPS){
bufang = ASin(buffer / dist / 2) * 2;
bufang = Max(10.0, bufang);
}
else {
bufang = 0.0;
}
if (fabs(dirdiff) > bufang){
TurnDashPlaning(agent, act, target, buffer, power, inverse, turn_first);
}
else {
power = inverse? -fabs(power): fabs(power);
power = agent.GetSelf().CorrectDashPowerForStamina(power);
if (fabs(power) > FLOAT_EPS){
act.mType = CT_Dash;
act.mDashPower = AdjustPowerForDash(agent.Self(), target, buffer, power);
act.mDashPower = agent.GetSelf().CorrectDashPowerForStamina(act.mDashPower);
if (fabs(act.mDashPower) > FLOAT_EPS){
act.mSucceed = true;
}
else {
act.mType = CT_None; //power为零时就不要执行了，没意义
TurnDashPlaning(agent, act, target, buffer, power, inverse, turn_first);//再次考虑转身，以免漏掉一线好的转身的机会
}
}
}
}
/**
* 考虑转身或直接dash
* Planing to turn or to dash.
* @param agent the agent itself.
* @param act an atomic action to return the caculated decision.
* @param target the target position to go to.
* @param buffer
* @param power the intend power for dash.
* @param inverse true means running backwards.
* @param turn_first true means turn first manually.
*/
void Dasher::TurnDashPlaning(Agent & agent, AtomicAction & act, Vector target, double buffer, double power, bool inverse, bool turn_first)
{
act.Clear();
power = inverse? -fabs(power): fabs(power);
power = agent.GetSelf().CorrectDashPowerForStamina(power);
PlayerState & self = agent.Self();
const Vector & my_pre_pos = self.GetPredictedPos(1);
double target_dist = my_pre_pos.Dist(target);
AngleDeg target_ang = inverse? GetNormalizeAngleDeg((my_pre_pos - target).Dir() - agent.GetSelf().GetBodyDir()): GetNormalizeAngleDeg((target - my_pre_pos).Dir() - agent.GetSelf().GetBodyDir()); //需要转身的角度
//DT_none
//处理转身问题,可能1dash + 1turn更好
double bufang;
if(buffer > FLOAT_EPS){
bufang = ASin(buffer / target_dist / 2) * 2;
bufang = Max(10.0, bufang);
}
else{
bufang = 0.0;
}
const double & effort = self.GetEffort();
const double & accrate = self.GetDashPowerRate();
const double & inertia_moment = self.GetInertiaMoment();
const double & decay = self.GetPlayerDecay();
const double & speedmax = self.GetEffectiveSpeedMax();
const Vector & vel = self.GetVel();
const double & facing = self.GetBodyDir();
double speed = vel.Mod();
double diffang = fabs(target_ang);
double oneturnang = self.GetMaxTurnAngle();
if(buffer < FLOAT_EPS && target_dist > 2.6){
oneturnang += 2.6;
}
if(turn_first || diffang <= oneturnang || speed < 0.04){ //由于噪声的存在，在非身体方向也有速度，调也调不过来，太小时不如直接转,0.04是一般队员的误差极值
act.mType = CT_Turn;
act.mTurnAngle = target_ang;
act.mSucceed = true;
return;
}
else {
//计算1 dash + 1turn;
//下面都是算dash到什么速度最好
double mspd1 = (180.0/ ( diffang + 10 ) - 1.0 ) / inertia_moment; //10是buf，不然容易调整后正好还转不过来
double dash2spd = Min(mspd1 / decay, speedmax) / (1 + ServerParam::instance().playerRand());
if( fabs(GetNormalizeAngleDeg(vel.Dir() - facing)) > 90.0){
speed = -speed;
}
double spd_inf = Max(speed - accrate * ServerParam::instance().maxDashPower(), -dash2spd);
double spd_sup = Min(speed + accrate * ServerParam::instance().maxDashPower(), dash2spd);
Ray cur_r(self.GetPos(), facing);
Vector pt_inf = cur_r.GetPoint(spd_inf * (1.0 + decay));
Vector pt_sup = cur_r.GetPoint(spd_sup * (1.0 + decay));
Vector pt;//要取得点
bool bnegtive;//要跑的点是不是在身后
Line pdl = Line(cur_r).GetPerpendicular(target);//垂线
if(pdl.IsPointInSameSide(pt_inf, pt_sup)){
if(fabs(GetNormalizeAngleDeg(facing-target_ang)) < 90.0){
pt = pt_sup;
bnegtive = (spd_sup<0);
}
else{
pt = pt_inf;
bnegtive = (spd_inf<0);
}
}
else{
double dist;
bnegtive = !cur_r.Intersection(pdl, dist); //垂点
pt = cur_r.GetPoint(dist);
}
double dis = pt.Dist(target);//两个周期后离point的距离,用来compare with 2 turn
double twoturnang = oneturnang + 180.0 / (1.0 + inertia_moment * fabs(speed) * decay);
if(twoturnang > diffang){
const Vector & pt2 = self.GetPredictedPos(2);
double dis2 = pt2.Dist(target);
if(dis2 < dis || diffang > 102.6){ //一次转太大，误差也大不如直接2turn
act.mType = CT_Turn;
act.mTurnAngle = target_ang;
act.mSucceed = true;
return;
}
}
double spd_need;
if(bnegtive){
spd_need = -(pt - self.GetPos()).Mod() / (1.0 + decay);
}
else{
spd_need = (pt - self.GetPos()).Mod() / (1.0 + decay);
}
//会总是dash而dash后又转不过来...,看着就像不拿球
double turnang_after_dash = 180.0 / (1.0 + inertia_moment * fabs(spd_need) * decay) - 5.0;
if(GetAngleDegDiffer((target - pt).Dir(), facing) > turnang_after_dash ){
act.mType = CT_Turn;
act.mTurnAngle = target_ang;
act.mSucceed = true;
return;
}
double power = ( spd_need - speed ) / accrate / effort;
power = MinMax(-ServerParam::instance().maxDashPower(), power, ServerParam::instance().maxDashPower());
//I over
act.mType = CT_Dash;
act.mDashPower = AdjustPowerForDash(self, pt, FLOAT_EPS, power);
act.mDashPower = agent.GetSelf().CorrectDashPowerForStamina(act.mDashPower);
if(fabs(act.mDashPower) > FLOAT_EPS)
{
act.mSucceed = true;
}
else {
act.mType = CT_Turn; //power为零时就不要执行了，没意义
act.mTurnAngle = 0.0;
act.mSucceed = true;
}
}
}