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RoboCup (2D) experiment 50 questions and the meaning of main functions
2022-07-28 10:37:00 【Bald but naturally】
For how to play a ball game, please refer to my previous blog
The connection point of blog is here
Main function meaning ：
soc = dribble(ang, DRIBBLE_FAST); // With the ball （ angle , Fast belt ）
soc = dribble(ang, DRIBBLE_Slow);
soc=dribble(ang,DRIBBLE_WITHBALL);// Safety belt
soc=leadingPass(o,1);// To the goal o Pass to o In front of the 1m
soc=kickBallCloseToBody(-120);// The ball rotates counterclockwise around itself
soc=kickTo(VecPosition(0,0),SS->getBallSpeedMax())// To point （0,0） Shoot at maximum speed
soc=mark(OBJECT_BALL,5,MARK_GOAL);// Mark and defend
soc=intercept(true)// Break the ball
soc=ShootToGoalex(OBJECT_GOAL_L)// A shot
soc=moveToPos(pos,20);// With 20 The angle is close to the target point pos
ACT->putCommandInQueue(soc); // Put the action into the command queue
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc)); // Turn your neck to the ball while doing the action
AngDeg ang=(VecPosition(52.5,0)-posAgent).getDirection()// Ask for the angle between the goal and me
Circle cir(posAgent,7);// Define a radius that is itself the center of a circle 7m The circle of
WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir);// Get the number of opponents in the circle
WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,posAgent);// Get my nearest opponent
WM->getGlobalPosition(o);// obtain o Coordinates of
WM->isOpponentAtAngle(30,30)// Judge the front -30 To 30 Is there an opponent
WM->getCurrentCircle()// Get the number of cycles
SS->getGoalWidth()// Get the goal width
WM->getBallPos().getX()// Get the ball x coordinate
WM->getAgentObjectType（）// Get your player type
WM->getOppGoalieType()// Get the opposite player type
WM->getPlayerNumber() // Get player number
WM->isInTheirPenaltyArea(WM->getBallPos())// Judge whether the ball is in the opponent's penalty area
WM->isBallKickable()// Judge whether you can play football
WM->getAgentGlobalPosition()// Get my current coordinates
WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent)// Get the player closest to me
WM->getSecondClosestInSetTo(OBJECT_SET_TEAMMATES,OBJECT_BALL)// The second is near
WM->isBallInOurPossesion()// Judge whether our side controls the ball
WM->getOffsideX()// Get offside line
WM->isCornerKickUs()// Judge whether it is our corner kick mode
WM->isOffsideUs()// Judge whether it is our sideline mode
for(ObjectTo=iterateObjectStart(iIndex,OBJECT_SET_TEAMMATES);o!=OBJECT_ILLEGAL;o=iterateObjectNext(iIndex,OBJECT_SET_TEAMMATES))// Traverse our players
posAgent.getY()// Current players y coordinate
Experiment 50 questions
The following code has not been rigorously tested
For reference only · Independent thinking
(1) stay playOn In mode , Get the ball and quickly dribble forward .
if ( WM->isBallKickable())
{
AngDeg ang = 0.0;
soc = dribble(ang, DRIBBLE_FAST);
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(2) stay PlayOn In mode , After getting the ball, dribble slowly towards the goal .
if ( WM->isBallKickable())
{
AngDeg ang=(VecPosition(52.5,0)-posAgent).getDirection();
soc=dribble(ang, DRIBBLE_SLOW);
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(3) stay playOn In mode , After getting the ball, turn it counterclockwise around your body .
if ( WM->isBallKickable())
{
soc=kickBallCloseToBody(-120);
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(4) stay playOn In mode , When you get the ball , Someone is pressing ( Around oneself 7 The range of meters is at least 1 Opposing players ), Then kick the ball to the other side away from the opponent , Safety belt
( If the opponent is on the right , Kick the ball to the left , Such as the left side of the opponent , Kick the ball to the right ).
if ( WM->isBallKickable())
{
Circle cir(posAgent,7);
int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir);
AngDeg ang=0;
if(num>0)
{
ObjectT o=WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,posAgent);
VecPosition p=WM->getGlobalPosition(o);
if((p-posAgent).getDirection()>=0)
{
ang+=45;
soc=dribble(ang,DRIBBLE_WITHBALL);
}
else{
ang-=45;
soc=dribble(ang,DRIBBLE_WITHBALL);
}
}
/*else{ AngDeg ang=(VecPosition(52.5,0)-posAgent).getDirection(); soc=dribble(ang,DRIBBLE_WITHBALL); }*/
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(5) stay playOn In mode , After getting the ball , Someone is pressing , Pass to the nearest teammate ; Otherwise, quickly dribble towards the goal .
if ( WM->isBallKickable())
{
{
Circle cir(posAgent,7);
int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir)
if(num>0)
{
soc=leadingPass(WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent) ,1);
}
else
{
AngDeg ang=(VecPosition(52.5,0)-posAgent).getDirection();
soc=dribble(ang, DRIBBLE_FAST);}
}
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(6) stay playOn In mode , If someone presses ( Around oneself 7 The range of meters is at least 1 Opposing players ), Then take the ball safely ; Otherwise, quickly dribble towards the goal .
if ( WM->isBallKickable())
{
{
Circle cir(posAgent,7);
int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir)
AngDeg ang=(VecPositoin(52.5,0)-posAgent).getDirection();
if(num>0)
soc=dribble(0,DRIBBLE_WITHBALL);
else
soc=dribble(ang,DRIBBLE_FAST);
}
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(7) stay PlayOn In mode , If there is no other player ahead , Then shoot directly at the opponent's side at the maximum speed （ The number of cycles is even , The right side of the goal shoots , The period is odd , Shoot to the left in the direction of the goal ）.
if ( WM->isBallKickable())
{
if(WM->isOpponentAtAngle(30,30)==false)
{
VecPosition posGoal(PITCH_LENGTH/2.0,
(-1+2*(WM->getCurrentCircle()%2))*0.4*SS->getGoalWidth());
soc=kickTo(posGoal,SS->getBallSpeedMax());
}
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(8) stay playOn In mode , When you get the ball , Play to the center of the court in our half ; After half a court , Quickly take the ball to the opponent's goal .
if ( WM->isBallKickable())
{
if(WM->getBallPos().getX()<0)
soc=kickTo(VecPosition(0,0),1.0);
else
{
AngDeg ang=(VecPositoin(52.5,0)-posAgent).getDirection();
soc=dribble(ang,DRIBBLE_FAST);
}
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(9) stay PlayOn In mode , When you get the ball , Pass it to the nearest teammate who is not defended around （ No one defends around it 5 Whether there is an opponent's player in the range of meters ） Foot .
if ( WM->isBallKickable())
{
Circle cir(WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent),5);
int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir);
if(num=0)
soc=leadingPass(WM->getClosestInSetTo(OBJECT_SET_TEAMMATES, posAgent) ,1.0);
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(10) stay playOn In mode , When you get the ball , Pass the ball to the unguarded teammate closest to your front （ Judge your teammates 5 Are there any defenders in the range of meters ）.
if ( WM->isBallKickable())
{
{
Circle cir(WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent),5);
int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir);
VecPosition diff=WM->getGlobalPosition(WM->getClosestInSetTo(
OBJECT_SET_TEAMMATES,posAgent));
AngDeg ang=(diff-posAgent).getDirection();
if(num=0&&ang>=-90&&ang<=90)
soc=leadingPass(WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent) ,1.0);
}
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(11) stay playOn In mode , After getting the ball , Pass to the next nearest teammate in our half ; In the other half , Not 10 Player No. passes to 10 Number player ,10 Player No. 1 quickly dribbles the ball towards the goal .
if ( WM->isBallKickable())
{
if(WM->getBallPos().getX()<0)
{
soc=leadingPass(WM->getSecondClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent)
,1.0);
}
if(WM->getBallPos().getX()>=0)
{
if(WM->getAgentObjectType（）！=OBJECT_TEANMATE_10)
{
soc=leadingPass(OBJECT_TEANMATE_10 ,1.0)
}
if(WM->getAgentObjectType()==OBJECT_TEANMATE_10)
{
AngDeg ang=(VecPositoin(52.5,0)-posAgent).getDirection();
soc=dribble(ang,DRIBBLE_FAST);
}
}
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(12) stay playOn In mode , If in our half , Then slowly dribble forward , If in the other half , Then quickly dribble towards the goal .
if ( WM->isBallKickable())
{
if(WM->getBallPos().getX()<0)
soc=dribble(0,DRIBBLE_SLOW);
if(WM->getBallPos().getX()>=0)
{
AngDeg ang=(VecPositoin(52.5,0)-posAgent).getDirection();
soc=dribble(ang,DRIBBLE_FAST);
}
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(13) stay playOn In mode , When you get the ball , If it is 2 Number , Then kick the ball to the left sideline , If it is 5 Number , Then kick the ball to the right sideline , And turn your neck to the ball ; Other players dribble forward .
if ( WM->isBallKickable())
{
if(WM->getAgentObjectType()==OBJECT_TEAMMATE_2)
{
soc=kickTo(VecPosition(WM->getBallPos().getX(),-34),1.0);
ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL,soc));}
else if(WM->getPlayerNumber()==5)
{
soc=kickTo(VecPosition(WM->getBallPos().getX(),34),1.0);
}
else
soc=dribble(0,DRIBBLE_WITHBALL);
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
//(14) stay playOn In mode , When you get the ball , If I were 4 Number , Pass it to 7 Number ; Otherwise , Pass to the nearest teammate ; After arriving at the opponent's penalty area, shoot at the side of the goal with a large gap at the maximum speed .
if ( WM->isBallKickable())
{
if(WM->isInTheirPenaltyArea(WM->getBallPos())) {
posGoalie=WM->getGlobalPosition(WM->getOppGoalieType());
ang_goalie=(posGoalie-posAgent).getDirection();
angup=(VecPosition(52.5,6.0)-posAgent).getDirection();
angdown=(VecPosition(52.5,-6.0)-posAgent).getDirection();
if(std::fabs(angup-ang_goalie)>std::fabs(angdown-ang_goalie))
soc=kickTo(VecPosition(52.5,6.0),SS->getBallSpeedMax());
else
soc=kickTo(VecPosition(52.5,-6.0),SS->getBallSpeedMax());
}
if(WM->getPlayerNumber()==4)
soc=leadingPass(OBJECT_TEAMMATE_7,1.0);
else leadingPass(WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent),1.0);
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
(15) stay playOn In mode , Vertical dribble .
if ( WM->isBallKickable())
{
if(WM->getBallPos().getY()<=0) soc=dribble(90,DRIBBLE_WITHBALL);
else soc=dribble(-90,DRIBBLE_WITHBALL);
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
//(16) stay playOn In mode , Get the ball and take it to the center of the court , Then pass it to the nearest player .
if ( WM->isBallKickable())
{
if(posAgent.getDistanceTo(posBall)>2.0) {
AngDeg ang=(VecPosition(0,0)-posAgent).getDirection();
soc=dribble(ang,DRIBBLE_WITHBALL);
}
else
soc=leadingPass(WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent),1.0);
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
//(17) stay playOn In mode ,10 No. 1 moves forward with the ball , then 5 Number followed 10 March forward together , The two players are at the same level On , And the distance is 5.
if(WM->getPlayerNumber()!=10)
soc=leadingPass(OBJECT_TEAMMATE_10,1.0);
else soc=dribble(0,DRIBBLE_SLOW);
if(WM->getPlayerNumber()==5) {
VecPosition pos(WM->getBallPos().getX()-5,WM->getBallPos().getY());
soc=moveToPos(pos,20);
}
//(18) stay playOn In mode , 5 The distance between player No. 1 and the opponent holding the ball is always 5.
if(WM->getPlayerNumber()==5) {
VecPosition pos(WM->getBallPos().getX()-5,WM->getBallPos().getY());
soc=moveToPos(pos,20);
}
//(19) stay playOn In mode ,2 Number and 4 Let's go to mark the players who take the ball with each other
if(WM->getAgentObjectType（）==OBJECT＿TEAMMATE＿2){
VecPosition pos(WM->getBallPos().getX()-5,WM->getBallPos().getY())
soc=moveToPos(pos,20);
}
if(WM->getAgentObjectType（）==OBJECT＿TEAMMATE＿4)
{
VecPosition pos(WM->getBallPos().getX(),WM->getBallPos().getY()-5)
soc=moveToPos(pos,20);
}
//(20) stay playon In mode , If it is 10 Number player , In a kickable state , If your own x Axis coordinates are greater than 30, Then shoot directly at the goal point far away from the opposing player .
if ( WM->isBallKickable())
{
if(WM->getPlayerNumber()==10&&posAgent.getX()>30)
{
posGoalie=WM->getGlobalPosition(WM->getOppGoalieType());
ang_goalie=(posGoalie-posAgent).getDirection();
angup=(VecPosition(52.5,6.0)-posAgent).getDirection();
angdown=(VecPosition(52.5,-6.0)-posAgent).getDirection();
if(std::fabs(angup-ang_goalie)>std::fabs(angdown-ang_goalie))
soc=kickTo(VecPosition(52.5,6.0),SS->getBallSpeedMax());
}
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
//(21) stay playOn In mode , Take the ball and pass it to the nearest teammate closer to the opponent's goal .
if ( WM->isBallKickable())
{
soc=leadPass(WM->getClosestInSetTo(OBJECT＿SET＿TEAMMATES,WM->getPosOpponentGoal()),1.0);
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
//(22) stay playOn In mode , After taking the ball , Search ahead -30~30 Distance between yourself 20 Does mineI have teammates , If there is, pass it to the teammate , Otherwise, take the ball by yourself .
if ( WM->isBallKickable())
{
VecPosition posTeam;
AngDeg angTeam;
int iIndex;
for(ObjectTo=iterateObjectStart(iIndex,OBJECT_SET_TEAMMATES);o!=OBJECT_ILLEGAL;o=iterateObjectNext(iIndex,OBJECT_SET_TEAMMATES))
{
posTeam=getGlobalPosition(o);
angTeam=(posTeam- posAgent).getDirection();
if(angA<=angTeam&&angTeam<=angB&&posAgent.getDistanceTo(posTeam)< dDist)
soc=leadPass(o,1.0);
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
//(23). stay playOn In mode , If you get the ball in our half , Then kick to the midfield line at the maximum speed , If you get the ball in the enemy half , Then kick at the enemy's goal at the maximum speed
if ( WM->isBallKickable())
{
if(WM->getBallPos().getX()<=0)
{
VecPosition pos(0,WM->grtBallPos().getY());
soc=kickTo(pos,SS->getBallSpeedMax());
}
else
soc=kickTo(VecPosition(52.5,0),SS->getBallSpeedMax());
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
}
//(24). stay playOn In mode , If it is 9 No. 1 gets the ball , Then order 9 Number and 10 No. 1 rushed to the enemy goal at the same time , In front of the goal ,9 Pass the number to 10 Number , from 10 Shoot on the th
if (WM->getPlayerNumber()==9&& WM->isBallKickable())
{
AngDeg ang=(VecPositoin(52.5,0)-posAgent).getDirection();
soc=dribble(ang,DRIBBLE_FAST);
if(WM->getAgentObjectType()==OBJECT_TEANMATE_10)
soc=moveToPos(VecPosition(52.5,0),20);
if(WM->isInTheirPenaltyArea(WM->getBallPos()))
{
soc=leadingPass(OBJECT_TEAMMATE_10,1.0);
if(WM->getAgentObjectType()==OBJECT_TEANMATE_10)
soc=kickTo(VecPosition(52.5,0),SS->getBallSpeedMax());
}
}
//(25). stay playOn In mode , If I were 4 Player No. 1 and got the ball , To 7 Number player , meanwhile 7 Player No. 1 passes it to 9 Number player ,9 Player No. 1 continues to rush to the goal with maximum speed and shoot .
if(WM->getPlayerNumber()==4&&WM->isBallKickable())
soc=leadingPass(OBJECT_TEAMMATE_7,1);
if(WM->getPlayerNumber()==7&&WM->isBallKickable())
soc=leadingPass(OBJECT_TEAMMATE_9,1);
if(WM->getPlayerNumber()==9&&WM->isBallKickable())
{
if(WM->getBallPos().getX()<40)
soc=dribble((VecPosition(40,0)-posAgent).getDirection(),DRIBBLE_FAST);
else soc=ShootToGoalex(OBJECT_GOAL_L);
}
//(26) stay playon In mode , Find out y Axis equals 0 The number of opposing players on both sides of , Pass the ball to the side with less opponents , also x The teammate with the largest axis value .
//WorldModel.cpp
ObjectT WorldModel::getMaxXTeammateInSide(bool isOwnSize)
{
int iIndex;
ObjectT maxMate = OBJECT_ILLEGAL;
for (ObjectT o = iterateObjectStart(iIndex, OBJECT_SET_TEAMMATES);
o != OBJECT_ILLEGAL;
o = iterateObjectNext(iIndex, OBJECT_SET_TEAMMATES))
{
VecPosition oPos = getGlobalPosition(o);
if((isOwnSize && oPos.getY() >= 0) ||
(!isOwnSize && oPos.getY() <= 0))
{
if (maxMate == OBJECT_ILLEGAL || oPos.getX() > getGlobalPosition(maxMate).getX())
maxMate = o;
}
}
iterate ObjectDone(iIndex);
return maxMate;
}
bool WorldModel:: isOwnSideOpponentMost()
{
int ownSideCount = 0;
int count = 0;
int iIndex;
ObjectT maxMate = OBJECT_ILLEGAL;
for (ObjectT o = iterateObjectStart(iIndex, OBJECT_SET_OPPONENTS);
o != OBJECT_ILLEGAL;
o = iterateObjectNext(iIndex, OBJECT_SET_OPPONENTS))
{
if (getGlobalPosition(o).getY() > 0)
ownSideCount++;
count++;
}
return ownSideCount > count - ownSideCount;
}
//PlayerTeams.cpp
else if( WM->isBallKickable())
{
ObjectT mate = WM->getMaxXTeammateInSide(!WM->isOwnSideOpponentMost());
soc = leadingPass(mate, 1, DIR_CENTER);
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
return soc;
}
//（27） stay playon In mode , If you are 7 If there are two or more opponents within meters , Pass to x The teammate with the largest axis value .
if(WM->isBallKickable()){
Circle cir(posAgent,7);
int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir);
if(num>=2){
ObjectT ClosestG;
ClosestG=WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,VecPosition(52.5,0));
soc=leadingPass(ClosestG,1);
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
}
//（28） stay playon In mode , Find your offside line , If there are teammates who can play football , If you are 10 Number . that 10 The player runs vertically to the offside line x Axis value -2 rice ,y The point where the axis does not change .
if(WM->isBallInOurPossesion() && WM->getPlayerNumber==10)
soc=moveToPos(WM->getOffsideX()-2,posAgent.getY(),20);
//(29) stay playon In the mode of , Find the linear equation of the ball's motion direction , And find the distance from yourself to the straight line , If the distance is less than 4 Words , Then run vertically to the straight line .
Line ballRun = Line::makeLineFromPositionAndAngle(WM->getBallPos(),WM>getBallDirection());
if (ballRun.getDistanceWithPoint(WM->getAgentGlobalPosition()) < 4)
{
soc = moveToPos(ballRun.getPointOnLineClosestTo(WM->getAgentGlobalPosition()), 20);
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject(OBJECT_BALL,soc));
return soc;
}
//（30） stay playon In the mode of , If you can play football , If you are 7 If there is no other player in mineI , Then quickly dribble , The direction of dribbling is towards the point （53,0） Direction .
if(WM->isBallKickable()){
Circle cir(posAgent,7);
int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir);
if(num==0){
AngDeg angDribble=(VecPosition(53.0,0)-posAgent).getDirection();
soc=dribble(angDribble,DRIBBLE_FAST);
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
}
//（31） stay playon In the mode of , If our teammates are the closest to the ball , If my x Coordinates less than 30 Words , And I am 10 Number , Then I run to the coordinates of the ball and add （0,10） Coordinate position of .
if(WM->isBallInOurPossesion() && WM->getPlayerNumber==10 && posAgent.getX()<30)
VecPosition pos=WM->getBallPos()+VecPosition(0,10);
moveToPos(pos,20);
//（32） stay playon In the mode of , When you find no teammates ahead , If you are 5 If Mi Nei has two or more opponents , Then pass the ball to the nearest teammate .
Circle cir(posAgent,7);
int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir);
if(WM->isTeammateAtAngle(-30,30)==false && num>=2)
{
leadingPass(WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,posAgent),1.0);
}
//(33 ) In our corner mode , If you are 10 Number player , Then run to the corner , And kick off （ The ball can be kicked , Then kick the ball to 9 Number ）; If you are 9 Number player , Then run near the corner （ Choose one at random ）, Get ready to catch the ball , Other players are running away from home .
else if (WM->isCornerKickUs())
{
if (WM->getAgentObjectType() == OBJECT_TEAMMATE_10)
{
if (WM->isBallKickable())
soc = leadingPass(OBJECT_TEAMMATE_9, 1);
else
soc = moveToPos(WM->getBallPos(), PS->getPlayerWhenToTurnAngle());
}
if (WM->getAgentObjectType() == OBJECT_TEAMMATE_9)
{
VecPosition ball = WM->getBallPos();
VecPosition pos(-(ball.getX())/fabs(ball.getX()) * 5 + ball.getX(),
-(ball.getY())/fabs(ball.getY()) * 5 + ball.getY());
soc = moveToPos(pos, PS->getPlayerWhenToTurnAngle());
}
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
//34 In our lineball mode , If you are the player closest to the ball , Run to the ball ; And kick off （ When the ball is at your feet, pass it to your nearest teammate ）.
else if(WM->isOffsideUs()) {
if(WM->getFastestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL, &iTmp )
== WM->getAgentObjectType()) {
if(WM->isBallKickable()) {
ObjectT objTea =WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,WM->getAgentObjectType(),&dist);
VecPosition posTea=WM->getGlobalPosition(objTea);
soc=kickTo(posTea,SS->getBallSpeedMax());
}
else {
soc=moveToPos(WM->getBallPos(),20);
}
ACT->putCommandInQueue(soc);
}
}
//35 In our lineball mode , On the left side of our half , By 2 Send it on the th ; If it is the right side of our half , By 5 Send it on the th ; The ball is in 2 Number or 5 At the foot of number , Then kick to the teammate closest to you .
else if(WM->isOffsideUs()) {
VecPosition posBall=WM->getBallPos();
if((posBall.getX()<0 && posBall.getY()<0 && WM->getPlayerNumber()==2)||
((posBall.getX()<0 && posBall.getY()>0 && WM->getPlayerNumber()==5)))
{
if(WM->isBallKickable()) {
ObjectT objTea =WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,WM->getAgentObjectType(),&dist);
VecPosition posTea=WM->getGlobalPosition(objTea);
soc=kickTo(posTea,SS->getBallSpeedMax());
}
else {
soc=moveToPos(WM->getBallPos(),20);
}
ACT->putCommandInQueue(soc);
}
}
//36. In the mode of our sideline , If I'm the second closest teammate , Then I also run towards the position of the ball , Until the distance ball 7 Range of meters
else if(WM->isOffsideUs())
{
ObjectT o=WM->getSecondClosestInSetTo(OBJECT_SET_TEAMMATES,OBJECT_BALL) ;
double myPosx=WM->getAgentGlobalPosition().getX();;
double myposy=WM->getAgentGlobalPosition().getY();;
double ballposx=WM->getBallPos().getX();;
double ballposy=WM->getBallPos().getY();;
double dis=sqrt(pow(ballposx-myPosx,2)+pow(ballposy-myposy,2));
if(WM->getAgentObjectType()==o&&dis>7)
{
soc=moveToPos( VecPosition(ballposx,ballposy ) , 20 );
ACT->putCommandInQueue( soc );
}
}
//37 In the mode of our sideline , If I were 4 No , And the teammate closest to the ball is not me , Then I will run to the coordinates of the ball plus （5,0） In the right place .
else if(WM->isOffsideUs())
{
if((WM->getPlayerNumber()==4)&&(WM-> getClosestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL)!=OBJECT_TEAMMATE_4))
soc=moveToPos((WM->getBallPos()+VecPosition(5,0)),20);
ACT->putCommandInQueue( soc ); // Put it in the command queue
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
//38 In the mode of our sideline , If I'm the second closest teammate to the ball , Then I run to the distance ball 12 Within meters , And away from the opponent's goal point （53,0） Some recent .
else if ( WM->isOffsideUs() )
{
ObjectT o = WM -> getSecondClosestInSetTo(OBJECT_SET_TEAMMATES , OBJECT_BALL) ;
if ( WM ->getAgentObjectType() == o )
{
double a = WM->getBallPos().getX() ;
double b = WM->getBallPos().getY() ;
double t ,m ,x2,y1,d,x1,y2;
t=b/( a-53);
m=53*t+b;
d=pow( 2*a+2*t*m,2) -4*( pow( t,2)+1) *(pow(a,2)+pow(m,2)-144) ;
x1 = ( ( 2*a+2*t*m) +sqrt( d) ) /( 2*( pow( t,2) +1)) ;
x2 = ( ( 2*a+2*t*m) -sqrt( d) ) /( 2*( pow( t,2) +1)) ;
y1 = t*x1-53*t ;
y2 =t*x2-53*t ;
double y ,x;
if( y1<y2)
{
y=y1 ;x=x1;
}
else
y=y2;x=x2;
soc = moveToPos( VecPosition( x,y) ,20);
}
ACT->putCommandInQueue( soc ); // Put it in the command queue
}
//39 In the mode of our sideline , The teammate closest to the ball runs to the ball and kicks off , If I'm not the second closest teammate to the ball , Then I vector myself （5,0） Run in the direction of .
else if ( WM->isOffsideUs( ) )
{
ObjectT o1 = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES , OBJECT_BALL) ;
if( WM->getAgentObjectType() == o1 )
{
if( WM->getGlobalPosition( o1) != WM->getBallPos() )
soc = moveToPos( WM->getBallPos() ,20) ;
else
{
ObjectT o3 = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES ,posAgent) ;
soc = leadingPass( o3 , 1) ;
}
}
ObjectT o2 = WM->getSecondClosestInSetTo(OBJECT_SET_TEAMMATES , OBJECT_BALL) ;
if( WM->getAgentObjectType() != o2)
{
double y = posAgent.getY() ;
VecPosition pos( 52.5, y);
soc = moveToPos( pos,20) ;
}
ACT->putCommandInQueue( soc );
}
//40 In the mode of our sideline , The teammate closest to the ball runs to the ball and kicks off , If I'm not the second closest teammate to the ball , Then find the coordinates of the teammate who is the second closest to the ball and add （10,5） Click to run . If the point is on the court , Then run to this point .
else if(WM->isOffsideUs())
{
ObjectT o1=WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,OBJECT_BALL) ;
ObjectT o2=WM->getSecondClosestInSetTo(OBJECT_SET_TEAMMATES,OBJECT_BALL) ;
double o2Posx;
double o2posy;
o2Posx=WM->getGlobalPosition(o2).getX();
o2posy=WM->getGlobalPosition(o2).getY();
if (WM->getAgentObjectType()==o1 )
{
if(WM->getGlobalPosition(o1)!=WM->getBallPos())
{
soc=moveToPos(WM->getBallPos(),20);
}
else
{
ObjectT o3 = WM->getClosestInSetTo( OBJECT_SET_TEAMMATES , o1) ;
soc = leadingPass(o3,1);
}
}
if(WM->getAgentObjectType()!=o1&&WM->getAgentObjectType()!=o2&&o2Posx<=42.5&&o2posy<=29)
{
soc=moveToPos(VecPosition(o2Posx+10,o2posy+5),20);
}
ACT->putCommandInQueue( soc );
}
//41 stay playOn In mode , If the other party 10 No. 1 take the ball , If I were 2、3、4 Number , Then mark 10 Number
int num=WM->getPlayerNumber();
if(WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,WM->getBallPos())==OBJECT_OPPONENT_10&&
(num==2||num==3||num==4))
{
VecPosition pos=WM->getMarkingPosition(OBJECT_OPPONENT_10,2.0,MARK_BALL);
soc=moveToPos(WM->getGlobalPosition(OBJECT_OPPONENT_10),PS->getPlayerWhenToTurnAngle());
ACT->putCommandInQueue( soc );
}
//42 stay playOn In mode , Such as the other party 9 No. 1 take the ball , We 2、3、4 The player closest to the ball goes to mark 9 Number , Other players mark the opponent who is closest to them
if(WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,WM->getBallPos())==OBJECT_OPPONENT_9)
{
ObjectT closestObject=OBJECT_TEAMMATE_2;
VecPosition team=WM->getGlobalPosition(closestObject);
double minDis=team.getDistanceTo(WM->getGlobalPosition(OBJECT_OPPONENT_9));
team=WM->getGlobalPosition(OBJECT_TEAMMATE_3);
double dis=team.getDistanceTo(WM->getGlobalPosition(OBJECT_OPPONENT_9));
if(dis<minDis)
{
minDis=dis;
closestObject=OBJECT_TEAMMATE_3;
}
team=WM->getGlobalPosition(OBJECT_TEAMMATE_4);
dis=team.getDistanceTo(WM->getGlobalPosition(OBJECT_OPPONENT_9));
if(dis<minDis)
{
closestObject=OBJECT_TEAMMATE_4;}
if(WM->getAgentObjectType()==closestObject)
{
VecPosition pos=WM->getMarkingPosition(OBJECT_OPPONENT_9,2.0,MARK_BALL);
soc=moveToPos(WM->getGlobalPosition(OBJECT_OPPONENT_9),PS->getPlayerWhenToTurnAngle());
}
else
{
ObjectT opp=WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,WM->getAgentObjectType());
VecPosition oppPos=WM->getMarkingPosition(opp,2.0,MARK_BALL);
soc=moveToPos(oppPos,40);
}
}
//43 stay playOn In mode , If the other side approaches the ball before me , Then the player closest to the ball watches the ball , Other players mark the opponent who is closest to them
double *dDist1,*dDist2;
WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,OBJECT_BALL,dDist1);
WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,OBJECT_BALL,dDist2);
if((* dDist1)>(* dDist2))
{
if(WM->getAgentObjectType()==WM->getClosestInSetTo(OBJECT_SET_TEAMMATES,OBJECT_BALL))
soc=mark(OBJECT_BALL,5,MARK_GOAL);
else
soc=mark(WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,WM->getPlayerNumber()),5,MARK_BISECTOR);
ACT->putCommandInQueue( soc = searchBall() ); // if ball pos unknown // Perform the ball finding action ！ And put it into the command queue
ACT->putCommandInQueue( alignNeckWithBody( ) ); // search for it // At the same time, turn your neck with your body
}
//44 stay playOn In mode , If the other party 11 No. 1 gets the ball , be 7 Player No. 1 breaks the ball from the left ,8 Player No. 2 breaks the ball from the right
if(!WM->isBallKickable()){
if(WM->getPlayerType()==OBJECT_OPPONENT_11)
if(WM->getPlayerNumber()==7)
soc=moveToPos(WM->getGlobalPosition(OBJECT_OPPONENT_11)+VecPosition(0,-3),1);
soc=intercept(true);
if(WM->getPlayerNumber()==8)
soc=moveToPos(WM->getGlobalPosition(OBJECT_OPPONENT_11)+VecPosition(0,3),1);
soc=intercept(true);
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
//45 stay playOn In mode , In defensive mode , We 6 Player No. 1 always follows the enemy 9 Number , We 7 No. 1 always follows the enemy 10 Number ,8 Player No. 1 always follows the enemy 11 Number player
if(WM->getPlayerNumber()==6)
{
VecPostion vOpp=WM->getGlobalPosition(OBJECT_OPPONENT_9);
soc=moveToPos(vOpp);
}
if(WM->getPlayerNumber()==7)
{
VecPostion vOpp=WM->getGlobalPosition(OBJECT_OPPONENT_10);
soc=moveToPos(vOpp);
}
if(WM->getPlayerNumber()==8)
{
VecPostion vOpp=WM->getGlobalPosition(OBJECT_OPPONENT_11);
soc=moveToPos(vOpp);
}
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL),soc);
//46. In the other side's lineball mode , If I were 4 Number , Then I will run to the opponent who is closest to the ball .
if(WM->offsidethem)
if(WM->getPlayerNumber()==4)
{
ObjectT oOpp=WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,OBJECT_BALL);
VecPosition vOPP=WM->getGlobalPosition(oOpp);
soc=moveToPos(vOpp);
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL),soc);
}
//47. In the other side's lineball mode , If I'm the second closest player to the ball , Then I run to the position of the opposing player who is the second closest to the ball .
if(WM->offsidethem)
ObjectT objTea=WM->getSecondClosestInSetTo(OBJECT_SET_TEAMMATE,OBJECT_BALL);
if(WM->getAgentObjectType()==objTea)
{
ObjectT objOpp=WM->getSecondClosestInSetTo(OBJECT_SET_OPPONENTS,OBJECT_BALL);
VecPosition vOpp=WM->getGlobalPosition(objOpp);
soc=moveToPos(vOpp,PS->getPlayWhenToTurnaAngle());
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL),soc);
}
//48. In the other side's lineball mode , If I'm not the teammate closest to the ball , And my x Axis coordinates are greater than 0 Words , Then I run to my position and add （-10,0） Go to the location of the point .
if(WM->offsidethem)
{
ObjectT closeball,Myanget;
closeball=WM->getSecondClosestInSetTo(OBJECT_SET_TEAMMATES,OBJECT_BALL);// Get the current distance and find the nearest player
// Myanget=getAngetGlobalPosition();// The current player won
if(WM->getAgentObjectType() !=closeball&&WM->getGlobalPosition(WM->getAgentObjectType()).getX()>0)// Judge
{
soc=moveToPos(WM->getGlobalPosition(WM->getAgentObjectType())+(-10,0),20);
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) ); // Turn your neck to the ball , That is, watching the ball all the time
}
}
//49. In the other side's lineball mode , If my side 5 If there are other players in mineI , Then I run to the position of the opposing player beside me , And my x The value of the axis coordinate is larger than that of the other party 2.
if(WM->isKickInThem())
{
Circle cir(posAgent,5);
int num=WM->getNrInSetInCircle(OBJECT_SET_OPPONENTS,cir);
if(num>0)
{
VecPosition pos=WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,WM->getAgentObjectType());
pos.setX(pos.getX()+2);
soc=moveToPos(pos,0);
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL,soc));
}
}
//50. In the other side's lineball mode , If the position of the ball is x Axis less than 0, If I were 4 Number or 5 No , Run together to the position of the opposing player who is the second closest to the ball .
if (WM->isOffsideThem() )
{
VecPosition pos;
double x;
pos = WM -> getBallPos();
x = pos.getX();
if ( x<0)
{
if( WM ->getPlayerNumber() == 4 || WM ->getPlayerNumber() == 5 )
{
ObjectT ClosestBall;
double DisBall;
AngDeg ang;
ClosestBall = WM -> getSecondClosestInSetTo ( OBJECT_SET_OPPONENTS , &DisBall );
ang = WM -> getRelativeAngle ( ClosestBall, true );
soc = SoccerCommand ( CMD_DASH , 80, ang );
}
}
}
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