bool Tackler::MayDangerousIfTackle(const PlayerState & tackler, const WorldState & world_state)
{
if (tackler.GetTackleProb(false) < FLOAT_EPS && tackler.GetTackleProb(true) < FLOAT_EPS) { //不可铲
return false;
}
const Vector tackler_pos = tackler.GetPos();
const Vector ball_pos = world_state.GetBall().GetPos();
const Vector ball_2_tackler = ball_pos - tackler_pos;
const double ball_dist2 = ball_2_tackler.Mod2();
const AngleDeg ball_dir = ball_2_tackler.Dir();
for (unsigned i = 0; i < world_state.GetPlayerList().size(); ++i) {
const PlayerState & opp = *world_state.GetPlayerList()[i];
if (!opp.IsAlive()) continue; //dead
if (opp.GetUnum() * tackler.GetUnum() > 0) continue; //not opp
if (opp.IsIdling()) continue; //idling
if (!opp.IsKickable()) continue; //not kickable
//cond. 1. opp no dashing -- 无从知晓，这里认为对手一定会dash
//cond. 2. ball near -- 球离自己更近，不构成危险情况
Vector opp_2_tackler = opp.GetPos() - tackler_pos;
if (opp_2_tackler.Mod2() > ball_dist2) continue;
//cond. 3. behind or big y_diff -- 对手在自己与球连线方向上在自己身后或错开位置太大，不构成危险情况
opp_2_tackler = opp_2_tackler.Rotate(-ball_dir);
if (opp_2_tackler.X() < 0.0 || std::fabs( opp_2_tackler.Y() ) > opp.GetPlayerSize() + tackler.GetPlayerSize()) continue;
//cond. 4. over body_diff -- 对手身体角度跟自己与球连线方向的夹角大于90度，不构成危险情况
AngleDeg body_diff = std::fabs( GetNormalizeAngleDeg( opp.GetBodyDir() - ball_dir ) );
if (body_diff > 90.0) continue;
return true;
}
return false;
}
void BehaviorPassPlanner::Plan(std::list<ActiveBehavior> & behavior_list)
{
std::cout<<"Inside pass plan"<<std::endl;
if (!mSelfState.IsKickable()) return;
const std::vector<Unum> & tm2ball = mPositionInfo.GetCloseTeammateToTeammate(mSelfState.GetUnum());
Unum _opp = mStrategy.GetFastestOpp();
if (!_opp) return;
PlayerState oppState = mWorldState.GetOpponent( _opp );
bool oppClose = oppState.IsKickable()|| oppState.GetTackleProb(true) > 0.65 ;
for (uint i = 0; i < tm2ball.size(); ++i) {
ActiveBehavior pass(mAgent, BT_Pass);
pass.mTarget = mWorldState.GetTeammate(tm2ball[i]).GetPredictedPos();
if(mWorldState.GetTeammate(tm2ball[i]).IsGoalie()){
continue;
}
Vector rel_target = pass.mTarget - mBallState.GetPos();
const std::vector<Unum> & opp2tm = mPositionInfo.GetCloseOpponentToTeammate(tm2ball[i]);
AngleDeg min_differ = HUGE_VALUE;
for (uint j = 0; j < opp2tm.size(); ++j) {
Vector rel_pos = mWorldState.GetOpponent(opp2tm[j]).GetPos() - mBallState.GetPos();
if (rel_pos.Mod() > rel_target.Mod() + 3.0) continue;
AngleDeg differ = GetAngleDegDiffer(rel_target.Dir(), rel_pos.Dir());
if (differ < min_differ) {
min_differ = differ;
}
}
if (min_differ < 10.0) continue;
pass.mEvaluation = Evaluation::instance().EvaluatePosition(pass.mTarget, true);
pass.mAngle = (pass.mTarget - mSelfState.GetPos()).Dir();
pass.mKickSpeed = ServerParam::instance().GetBallSpeed(5, pass.mTarget.Dist(mBallState.GetPos()));
pass.mKickSpeed = MinMax(2.0, pass.mKickSpeed, Kicker::instance().GetMaxSpeed(mAgent , pass.mAngle ,3 ));
if(oppClose){//in oppnent control, clear it
pass.mDetailType = BDT_Pass_Clear;
}
else pass.mDetailType = BDT_Pass_Direct;
mActiveBehaviorList.push_back(pass);
}
if (!mActiveBehaviorList.empty()) {
mActiveBehaviorList.sort(std::greater<ActiveBehavior>());
if(mActiveBehaviorList.front().mDetailType == BDT_Pass_Clear){
mActiveBehaviorList.front().mEvaluation = 1.0 + FLOAT_EPS;
}
behavior_list.push_back(mActiveBehaviorList.front());
}
else { //如果此周期没有好的动作
if (mAgent.IsLastActiveBehaviorInActOf(BT_Pass)) {
ActiveBehavior pass(mAgent, BT_Pass, BDT_Pass_Direct);
pass.mTarget = mAgent.GetLastActiveBehaviorInAct()->mTarget; //行为保持
pass.mEvaluation = Evaluation::instance().EvaluatePosition(pass.mTarget, true);
pass.mKickSpeed = ServerParam::instance().GetBallSpeed(5 + random() % 6, pass.mTarget.Dist(mBallState.GetPos()));
pass.mKickSpeed = MinMax(2.0, pass.mKickSpeed, ServerParam::instance().ballSpeedMax());
behavior_list.push_back(pass);
}
if(oppClose){
Vector p;
BallState SimBall = mBallState;
int MinTmInter = HUGE_VALUE, MinOppInter = HUGE_VALUE, MinTm;
Vector MinTmPos;
for(AngleDeg dir = -45 ; dir <= 45 ; dir += 2.5){
if(!Tackler::instance().CanTackleToDir(mAgent,dir)){
SimBall.UpdateVel(Polar2Vector(Kicker::instance().GetMaxSpeed(mAgent,mSelfState.GetBodyDir() + dir,1),mSelfState.GetBodyDir() + dir),0,1.0);
}
else
SimBall.UpdateVel(Polar2Vector(Max(Tackler::instance().GetBallVelAfterTackle(mAgent,dir).Mod(), Kicker::instance().GetMaxSpeed(mAgent,mSelfState.GetBodyDir() + dir,1)),mSelfState.GetBodyDir() + dir),0,1.0);
for(int i = 2 ; i <= 11 ; i ++){
if(fabs((mWorldState.GetTeammate(i).GetPos() - mSelfState.GetPos()).Dir() - dir) > 45 ){
continue;
}
if(!mWorldState.GetPlayer(i).IsAlive()){continue;}
PlayerInterceptInfo* a = mInterceptInfo.GetPlayerInterceptInfo(i);
mInterceptInfo.CalcTightInterception(SimBall,a,true);
if(MinTmInter > (*a).mMinCycle){
MinTm= i;
MinTmInter = (*a).mMinCycle;
MinTmPos = (*a).mInterPos;
}
}
for(int i = 1 ; i <= 11 ; i++){
if(fabs((mWorldState.GetOpponent(i).GetPos() - mSelfState.GetPos()).Dir() - dir) > 45 ){
continue;
}
PlayerInterceptInfo* a = mInterceptInfo.GetPlayerInterceptInfo(-i);
mInterceptInfo.CalcTightInterception(SimBall,a,true);
if(MinOppInter > (*a).mMinCycle){
MinOppInter = (*a).mMinCycle;
}
}
if(MinOppInter > MinTmInter){
Ray a(mSelfState.GetPos() , mSelfState.GetBodyDir() + dir);
Line c(ServerParam::instance().ourLeftGoalPost(),ServerParam::instance().ourRightGoalPost());
c.Intersection(a,p);
if( p.Y() < ServerParam::instance().ourPenaltyArea().Top()
|| p.Y() > ServerParam::instance().ourPenaltyArea().Bottom()){
ActiveBehavior pass(mAgent , BT_Pass , BDT_Pass_Clear);
pass.mTarget = MinTmPos;
pass.mEvaluation = 1.0 + FLOAT_EPS;
pass.mAngle = mSelfState.GetBodyDir() + dir;
mActiveBehaviorList.push_back(pass);
}
}
}
if (!mActiveBehaviorList.empty()) {
mActiveBehaviorList.sort(std::greater<ActiveBehavior>());
behavior_list.push_back(mActiveBehaviorList.front());
}
}
}
}