/** * player 跑到 target 的所需的最小周期数 * This function returns the minimum cycles for a player to go to a target position. * @param player the player to caculate. * @param target the target position to go to. * @param can_inverse true means consider running backwards. * @param buffer * @return an integer to show the minimum cycles caculated. */ int Dasher::CycleNeedToPoint(const PlayerState & player, Vector target, bool can_inverse, double *buf) { const Vector & pos = player.GetPos(); const Vector & vel = player.GetVel(); const double dir = (target - pos).Dir(); double facing; if (player.IsBodyDirValid()) { facing = player.GetBodyDir(); } else if (vel.Mod() > 0.26){ facing = vel.Dir(); } else { facing = dir; //认为不用转身 } double diffang = fabs(GetNormalizeAngleDeg(dir - facing)); if (diffang < 90.0){ can_inverse = false; //没有必要倒着跑 } if (can_inverse){ if (buf != 0) { double tmp; int cycle1 = CycleNeedToPointWithCertainPosture(player, target, true, buf); int cycle2 = CycleNeedToPointWithCertainPosture(player, target, false, &tmp); if (cycle2 <= cycle1) { *buf = tmp; } return Min(cycle1, cycle2); } else { int cycle1 = CycleNeedToPointWithCertainPosture(player, target, true); int cycle2 = CycleNeedToPointWithCertainPosture(player, target, false); return Min(cycle1, cycle2); } } else { return CycleNeedToPointWithCertainPosture(player, target, false, buf); } }
/** * 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); } }