/*
* This function is used to correct the target position when near the ball.
* @param player the player to consider.
* @param target the target position to go to.
* @param fix the distance error to fix.
* @return position corrected.
*/
Vector Dasher::CorrectTurnForDash(const PlayerState & player, const Vector & target, double fix)
{
if (player.GetPosConf() > 0.99 - FLOAT_EPS && player.GetBodyDirConf() > 0.99 - FLOAT_EPS) {
Ray body_ray(player.GetPos(), player.GetBodyDir());
Line body_line(body_ray);
Vector closest_pt = body_line.GetProjectPoint(target);
double buffer = 0.05 + ServerParam::instance().ballSize();
if (closest_pt.Dist(player.GetPos()) > player.GetKickableArea() + buffer - fix){
if (closest_pt.Dist(target)
< player.GetKickableArea() - buffer + fix){
return closest_pt;
}
}
}
return target;
}
/**
* 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);
}
}