Exemplo n.º 1
0
/**
* 主要是为了调整power用,为了避免power过大而跑过可
* 目标点。原则视为了更高层协调,power只可能减小不可
* 能增大。为了不必要到dash,power也可可能为零。也就
* dash不执行
* power 的正负由外面给定
* This funcition is mainly used to adjust ( usually decrease ) the dash power 
* to avoid run over the target position by using a big power. The final power 
* could be 0 to avoid an unnecessary dash.
* The sign of power is given outside the function.
* @param player the player to caculate.
* @param target the target position to go to.
* @param buffer
* @param power orignal power given.
* @return power adjusted.
*/
double Dasher::AdjustPowerForDash(const PlayerState & player, Vector target, double buffer, double power)
{
	const double & speedmax = player.GetEffectiveSpeedMax();
	const double & effort = player.GetEffort();
	const double & accrate = player.GetDashPowerRate();
	const Vector & pos = player.GetPos();
	const Vector & vel = player.GetVel();

	const double & facing = player.GetBodyDir();

	if (pos.Dist(target) > speedmax + buffer){ //怎么跑的都不会跑过
		return power;
	}

	if((pos + vel).Dist(target) < buffer) { //不跑也能到到达,就不用跑了
		return 0.0;
	}

	Line dash_line(Ray(pos, player.GetBodyDir()));
	Vector projective_target = dash_line.GetProjectPoint(target);
	Vector acc = projective_target - pos - vel;
	double dash_power = acc.Mod() / (effort * accrate);
	if (GetAngleDegDiffer(acc.Dir(), facing) > 90.0){
		dash_power = -dash_power;
	}

	if (power > 0){
		return MinMax(ServerParam::instance().minDashPower(), dash_power, power);
	}
	else {
		return MinMax(power, dash_power, ServerParam::instance().maxDashPower());
	}
}
Exemplo n.º 2
0
/**
* 计算用同一dash_power到达某点需要的时间
* Caculate cycles needed to a target position with a certain dash power.
* @param player the player to caculate.
* @param target the target position to go to.
* @param dash_power the power for dash to predict.
* @return an integer to show the cycles caculated.
*/
int Dasher::CyclePredictedToPoint(const PlayerState& player , Vector target , double dash_power)
{
	double corrected_dash_power = dash_power;
	double effective_power;
	double predicted_stamina = player.GetStamina();
	double predicted_effort  = player.GetEffort();
	double predicted_recovery = player.GetRecovery();
	double predicted_capacity = player.GetCapacity();
	double myang = player.GetBodyDir();
	Vector position = player.GetPos();
	Vector velocity;

	if (player.GetVelConf() < FLOAT_EPS)
	{
		velocity = Vector(0,0);
	}
	else
	{
		velocity = player.GetVel();
	}

	Vector last_position = position;
	int max_cyc = (int)(position.Dist(target) / player.GetEffectiveSpeedMax() + 100);
	int last_action = 0; /* 0 -- turn , 1 -- dash*/

	for (int i = 0;i < max_cyc;i++)
	{
		if (position.Dist(target) < PlayerParam::instance().AtPointBuffer())
		{
			return i;
		}

		if (position.Dist(target) > last_position.Dist(target) + FLOAT_EPS && last_action == 1)
		{
			return i;
		}

		last_position = position;

		/*decide if we should turn*/
		double targ_ang;
		if (dash_power > 0)
		{
			targ_ang = (target - position).Dir() - myang;
		}
		else
		{
			targ_ang = (target - position).Dir() - GetNormalizeAngleDeg(myang + 180);
		}

		double max_go_to_point_angle_err = 4; //见08CP_max_go_to_point_angle_err
		if (fabs(GetNormalizeAngleDeg(targ_ang)) > max_go_to_point_angle_err)
		{
			/*turnint*/
			double this_turn = MinMax(-player.GetMaxTurnAngle(), GetNormalizeAngleDeg(targ_ang) , player.GetMaxTurnAngle());

			myang += this_turn;
			corrected_dash_power = 0;
			last_action = 0;
		}
		else
		{
			corrected_dash_power = player.CorrectDashPowerForStamina(dash_power);
			if (fabs(corrected_dash_power) > predicted_stamina)
			{
				effective_power = Sign(corrected_dash_power) * predicted_stamina;
			}
			else
			{
				effective_power = corrected_dash_power;
			}

			effective_power *= predicted_effort;
			effective_power *= player.GetDashPowerRate();
			velocity += Polar2Vector(effective_power , myang);
			last_action = 1;
		}

		if (velocity.Mod() > player.GetEffectiveSpeedMax())
		{
			velocity *= (player.GetEffectiveSpeedMax()/ velocity.Mod());
		}

		position += velocity;
		velocity *= player.GetPlayerDecay();

		//08 内UpdatePredictStaminaWithDash函数 直接写入此函数
		if (dash_power > 0)
		{
			predicted_stamina -= dash_power;
		}
		else
		{
			predicted_stamina -= 2 * dash_power;
		}

		if (predicted_stamina < 0)
		{
			predicted_stamina = 0;
		}

		if (predicted_stamina < ServerParam::instance().recoverDecStamina() && predicted_recovery > ServerParam::instance().recoverMin())
		{
			predicted_recovery -= ServerParam::instance().recoverDec();
		}

		if (predicted_stamina < ServerParam::instance().effortDecStamina()  && predicted_effort > player.GetEffortMin())
		{
			predicted_effort -= ServerParam::instance().effortDec();
		}

		if (predicted_stamina > ServerParam::instance().effortIncStamina() && predicted_effort < player.GetEffortMax())
		{
			predicted_effort += ServerParam::instance().effortDec();
		}

		//增加capacity改进
		double stamina_inc = Min(predicted_recovery * player.GetStaminaIncMax() , predicted_capacity);
		predicted_stamina += stamina_inc;
		if (predicted_stamina > ServerParam::instance().staminaMax())
		{
			predicted_stamina = ServerParam::instance().staminaMax();
		}

		predicted_capacity -= stamina_inc;
		if (predicted_capacity < 0)
		{
			predicted_capacity = 0;
		}
	}

	return max_cyc;
}
Exemplo n.º 3
0
/**
* player 以确定得姿势(指倒着跑和正跑),跑到 target 所需要的周期数
* This function returns the minimum cycles for a player to go to a target position with 
* a certain posture, forward or backward.
* @param player the player to caculate.
* @param target the target position to go to.
* @param inverse true means running backwards.
* @param buffer 
* @return an integer to show the minimum cycles caculated.
*/
int Dasher::CycleNeedToPointWithCertainPosture(const PlayerState & player, Vector target, const bool inverse, double *buf)
{
	int cycle = 0; //用的周期

	const double & decay = player.GetPlayerDecay();
	const double & speedmax = player.GetEffectiveSpeedMax();
	const double & stamina = player.GetStamina();
	const double & stamina_inc_max = player.GetStaminaIncMax();
	const double & dash_max = ServerParam::instance().maxDashPower();
	const Vector & pos = player.GetPos();
	const Vector & vel = player.GetVel();

	const double accrate = player.GetDashPowerRate() * player.GetEffort();
	double speed = vel.Mod();

	const Vector predict_pos_1 = pos + vel;
	const Vector predict_pos_2 = predict_pos_1 + vel * decay;
	const double dir = (target - pos).Dir();
	double dis = (target - predict_pos_1).Mod();

	const double kick_area = player.IsGoalie()? ServerParam::instance().catchAreaLength(): (player.GetKickableArea() - GETBALL_BUFFER);

	if (dis <= kick_area){
		dis = pos.Dist(target);
		if (buf) *buf = 0;
		return 1;
	}

	double facing;
	if (player.IsBodyDirValid()) {
		facing = player.GetBodyDir();
	}
	else if (speed > 0.26){
		facing = vel.Dir();
	}
	else {
		facing = dir; //认为不用转身
	}

	double diffang = fabs(GetNormalizeAngleDeg(dir - facing));
	const double oneturnang = player.GetMaxTurnAngle();
	const double stamina_recovery_thr = ServerParam::instance().recoverDecThr() * ServerParam::instance().staminaMax();

	double angbuf = FLOAT_EPS;
	angbuf = ASin(kick_area / dis);
	angbuf = Max(angbuf , 15.0);

	if (inverse) {
		diffang = 180.0 - diffang;
		facing = GetNormalizeAngleDeg(180.0 + facing);
	}

	//I 调整阶段
	if(diffang <= angbuf){ //不需要转身
		target = (target - pos).Rotate(-facing);
		dis = fabs(target.X());
		double y = fabs(target.Y());
		if(y < kick_area){
			dis -= sqrt(kick_area * kick_area - y * y);
		}
		speed *= Cos(vel.Dir() - facing); //身体方向上的投影
	}
	else if(diffang <= oneturnang){
		cycle += 1;
		target -= predict_pos_1;
		speed *= Cos(vel.Dir() - dir); //取得目标方向的投影
		speed *= decay;//进行投影.垂直方向1个周期后衰减到10+厘米了,并且在1turn时可加入考虑修正掉
		dis = target.Mod();
		dis -= kick_area;
	}
	else{ //认为转身两下(不细致)
		cycle += 2;
		target -= predict_pos_2;
		speed *= Cos(vel.Dir() - dir); //取得目标方向的投影
		speed *= decay * decay;//进行投影.垂直方向1个周期后衰减到10+厘米了,并且在1turn时可加入考虑修正掉
		dis = target.Mod();
		dis -= kick_area;
	}

	if (dis <= 0){
		if(buf != NULL){
			*buf = -dis / ( speed / decay);
			*buf = Min(*buf , 0.99);
		}
		return Max(cycle, 0);
	}

	//II 加速 & 消耗体力阶段
	const double stamina_used_per_cycle = inverse? dash_max * 2.0: dash_max;
	const int full_cyc = int((stamina - stamina_recovery_thr) / (stamina_used_per_cycle - stamina_inc_max)); //满体力阶段
	int acc_cyc = 0;//加速阶段
	const double speedmax_thr = speedmax * decay * 0.98;
	const double accmax = accrate * dash_max;

	while(acc_cyc < full_cyc && speed < speedmax_thr){
		speed += accmax;
		if(speed > speedmax){
			speed = speedmax;
		}
		dis -= speed;
		if(dis <= 0){//还没加速到最大就跑到了...
			cycle += acc_cyc + 1;
			if(buf != NULL){
				*buf = -dis /( speed / decay );
				*buf = Min(*buf , 0.99);
			}
			return Max(cycle, 0);
		}
		speed *= decay;
		++ acc_cyc;
	}

	cycle += acc_cyc;

	//III 满体匀速阶段
	int aver_cyc = full_cyc - acc_cyc;
	double aver_cyc_dis = aver_cyc * speedmax;
	if(aver_cyc_dis >= dis){
		if(buf != NULL){
			double realcyc = cycle + dis / speedmax;
			cycle = int( ceil(realcyc) );
			*buf = cycle - realcyc;
			return Max(cycle, 0);

		}
		else{
			cycle = int(ceil( cycle + dis / speedmax));
			return Max(cycle, 0);
		}
	}
	else{
		cycle += aver_cyc;
		dis -= aver_cyc_dis;
	}

	//IV 没体(0消耗)减速阶段
	double acc_tired = stamina_inc_max * accrate;
	double speed_tired = acc_tired / (1 - decay);
	double speed_tired_thr = speed_tired * decay;
	speed *= decay;
	while(dis > 0 && fabs(speed - speed_tired_thr) > 0.004){
		speed += acc_tired;
		dis -= speed;
		speed *= decay;
		++cycle;
	}

	if(dis <= 0){
		if(buf != NULL){
			*buf = -dis / ( speed / decay);
			*buf = Min(*buf , 0.99);
		}
		return Max(cycle, 0);
	}

	//V 没体(0消耗)匀速阶段

    if( buf != NULL){
        double realcyc = cycle + dis / speed_tired;
        cycle = int( ceil( realcyc ) );
        *buf = cycle - realcyc;
        return Max(cycle, 0);
    }
    else{
    	cycle = cycle + int(ceil ( dis / speed_tired));
    	return Max(cycle, 0);
    }
}