示例#1
0
/*!

 */
void
ShootGenerator::evaluateCourses( const WorldModel & wm )
{
    const double y_dist_thr2 = std::pow( 8.0, 2 );

    const ServerParam & SP = ServerParam::i();
    const PlayerObject * goalie = wm.getOpponentGoalie();
    const AngleDeg goalie_angle = ( goalie
                                    ? ( goalie->pos() - M_first_ball_pos ).th()
                                    : 180.0 );

    const Container::iterator end = M_courses.end();
    for ( Container::iterator it = M_courses.begin();
          it != end;
          ++it )
    {
        double score = 1.0;

        if ( it->kick_step_ == 1 )
        {
            score += 50.0;
        }

        if ( it->goalie_never_reach_ )
        {
            score += 100.0;
        }

        if ( it->opponent_never_reach_ )
        {
            score += 100.0;
        }

        double goalie_rate = 1.0;
        if ( goalie )
        {
#if 1
            double variance2 = ( it->goalie_never_reach_
                                 ? 1.0 // 1.0*1.0
                                 : std::pow( 10.0, 2 ) );
            double angle_diff = ( it->ball_move_angle_ - goalie_angle ).abs();
            goalie_rate = 1.0 - std::exp( - std::pow( angle_diff, 2 )
                                          / ( 2.0 * variance2 ) );
#else
            double angle_diff = ( it->ball_move_angle_ - goalie_angle ).abs();
            goalie_rate = 1.0 - std::exp( - std::pow( angle_diff * 0.1, 2 )
                                          // / ( 2.0 * 90.0 * 0.1 ) );
                                          // / ( 2.0 * 40.0 * 0.1 ) ); // 2009-07
                                              // / ( 2.0 * 90.0 * 0.1 ) ); // 2009-12-13
                                          / ( 2.0 * 20.0 * 0.1 ) ); // 2010-06-09
#endif
        }

        double y_rate = 1.0;
        if ( it->target_point_.dist2( M_first_ball_pos ) > y_dist_thr2 )
        {
            double y_dist = std::max( 0.0, it->target_point_.absY() - 4.0 );
            y_rate = std::exp( - std::pow( y_dist, 2.0 )
                               / ( 2.0 * std::pow( SP.goalHalfWidth() - 1.5, 2 ) ) );
        }

#ifdef DEBUG_PRINT_EVALUATE
        dlog.addText( Logger::SHOOT,
                      "(shoot eval) %d: score=%f(%f) pos(%.2f %.2f) speed=%.3f goalie_rate=%f y_rate=%f",
                      it->index_,
                      score * goalie_rate * y_rate, score,
                      it->target_point_.x, it->target_point_.y,
                      it->first_ball_speed_,
                      goalie_rate,
                      y_rate );
#endif
        score *= goalie_rate;
        score *= y_rate;
        it->score_ = score;
    }
}
示例#2
0
/*!

 */
void
ShootGenerator::createShoot( const WorldModel & wm,
                             const Vector2D & target_point )
{
    const AngleDeg ball_move_angle = ( target_point - M_first_ball_pos ).th();

    const PlayerObject * goalie = wm.getOpponentGoalie();
    if ( goalie
         && 5 < goalie->posCount()
         && goalie->posCount() < 30
         && wm.dirCount( ball_move_angle ) > 3 )
    {
#ifdef DEBUG_PRINT
        dlog.addText( Logger::SHOOT,
                      "%d: __ xxx goalie_count=%d, low dir accuracy",
                      M_total_count,
                      goalie->posCount() );
#endif
        return;
    }

    const ServerParam & SP = ServerParam::i();

    const double ball_speed_max = ( wm.gameMode().type() == GameMode::PlayOn
                                    || wm.gameMode().isPenaltyKickMode()
                                    ? SP.ballSpeedMax()
                                    : wm.self().kickRate() * SP.maxPower() );

    const double ball_move_dist = M_first_ball_pos.dist( target_point );

    const Vector2D max_one_step_vel
        = ( wm.self().isKickable()
            ? KickTable::calc_max_velocity( ball_move_angle,
                                            wm.self().kickRate(),
                                            wm.ball().vel() )
            : ( target_point - M_first_ball_pos ).setLengthVector( 0.1 ) );
    const double max_one_step_speed = max_one_step_vel.r();

    double first_ball_speed
        = std::max( ( ball_move_dist + 5.0 ) * ( 1.0 - SP.ballDecay() ),
                    std::max( max_one_step_speed,
                              1.5 ) );

    bool over_max = false;
#ifdef DEBUG_PRINT_FAILED_COURSE
    bool success = false;
#endif
    while ( ! over_max )
    {
        if ( first_ball_speed > ball_speed_max - 0.001 )
        {
            over_max = true;
            first_ball_speed = ball_speed_max;
        }

        if ( createShoot( wm,
                          target_point,
                          first_ball_speed,
                          ball_move_angle,
                          ball_move_dist ) )
        {
            Course & course = M_courses.back();

            if ( first_ball_speed <= max_one_step_speed + 0.001 )
            {
                course.kick_step_ = 1;
            }

#ifdef DEBUG_PRINT_SUCCESS_COURSE
            dlog.addText( Logger::SHOOT,
                          "%d: ok shoot target=(%.2f %.2f)"
                          " speed=%.3f angle=%.1f",
                          M_total_count,
                          target_point.x, target_point.y,
                          first_ball_speed,
                          ball_move_angle.degree() );
            dlog.addRect( Logger::SHOOT,
                          target_point.x - 0.1, target_point.y - 0.1,
                          0.2, 0.2,
                          "#00ff00" );
            char num[8];
            snprintf( num, 8, "%d", M_total_count );
            dlog.addMessage( Logger::SHOOT,
                             target_point, num, "#ffffff" );
#endif
#ifdef DEBUG_PRINT_FAILED_COURSE
            success = true;
#endif
#ifdef SEARCH_UNTIL_MAX_SPEED_AT_SAME_POINT
            if ( course.goalie_never_reach_
                 && course.opponent_never_reach_ )
            {
                return;
            }
            ++M_total_count;
#else
            return;
#endif
        }

        first_ball_speed += 0.3;
    }

#ifdef DEBUG_PRINT_FAILED_COURSE
    if ( success )
    {
        return;
    }

    dlog.addText( Logger::SHOOT,
                  "%d: xxx shoot target=(%.2f %.2f)"
                  " speed=%.3f angle=%.1f",
                  M_total_count,
                  target_point.x, target_point.y,
                  first_ball_speed,
                  ball_move_angle.degree() );
    dlog.addRect( Logger::SHOOT,
                  target_point.x - 0.1, target_point.y - 0.1,
                  0.2, 0.2,
                  "#ff0000" );
    char num[8];
    snprintf( num, 8, "%d", M_total_count );
    dlog.addMessage( Logger::SHOOT,
                     target_point, num, "#ffffff" );
#endif
}