C++ PlayerState::GetBodyDir方法代码示例

/**
* 主要是为了调整power用，为了避免power过大而跑过可
* 目标点。原则视为了更高层协调，power只可能减小不可
* 能增大。为了不必要到dash，power也可可能为零。也就
* dash不执行
* power 的正负由外面给定
* This funcition is mainly used to adjust ( usually decrease ) the dash power 
* to avoid run over the target position by using a big power. The final power 
* could be 0 to avoid an unnecessary dash.
* The sign of power is given outside the function.
* @param player the player to caculate.
* @param target the target position to go to.
* @param buffer
* @param power orignal power given.
* @return power adjusted.
*/
double Dasher::AdjustPowerForDash(const PlayerState & player, Vector target, double buffer, double power)
{
	const double & speedmax = player.GetEffectiveSpeedMax();
	const double & effort = player.GetEffort();
	const double & accrate = player.GetDashPowerRate();
	const Vector & pos = player.GetPos();
	const Vector & vel = player.GetVel();

	const double & facing = player.GetBodyDir();

	if (pos.Dist(target) > speedmax + buffer){ //怎么跑的都不会跑过
		return power;
	}

	if((pos + vel).Dist(target) < buffer) { //不跑也能到到达，就不用跑了
		return 0.0;
	}

	Line dash_line(Ray(pos, player.GetBodyDir()));
	Vector projective_target = dash_line.GetProjectPoint(target);
	Vector acc = projective_target - pos - vel;
	double dash_power = acc.Mod() / (effort * accrate);
	if (GetAngleDegDiffer(acc.Dir(), facing) > 90.0){
		dash_power = -dash_power;
	}

	if (power > 0){
		return MinMax(ServerParam::instance().minDashPower(), dash_power, power);
	}
	else {
		return MinMax(power, dash_power, ServerParam::instance().maxDashPower());
	}
}

/**
 * 通过传入kick的参数，计算kick后球的位置和速度
 * Calculate ball position and velocity after a kick action.
 * \param kick_power.
 * \param kick_angle.
 * \param player_state state of the player who is performing kick.
 * \param ball_state ball state before the kick action is performed.
 * \param ball_pos will be set to ball position after kick.
 * \param ball_vel will be set to ball velocity after kick.
 * \param is_self if the action is performed by the agent this process represents.
 */
void ActionEffector::ComputeInfoAfterKick(const double kick_power, const double kick_angle,
		const PlayerState &player_state, const BallState &ball_state, Vector &ball_pos, Vector &ball_vel, bool is_self)
{
	double power = GetNormalizeKickPower(kick_power);
	double dir = GetNormalizeMoment(kick_angle);

	Vector ball_2_player = (ball_state.GetPos() - player_state.GetPos()).Rotate(-player_state.GetBodyDir());
    double eff_power = power *
        (is_self ? player_state.GetKickRate() : GetKickRate(ball_2_player, player_state.GetPlayerType()));
	Vector accel = Polar2Vector(eff_power, player_state.GetBodyDir() + dir);

	ball_vel = ball_state.GetVel() + accel;
	ball_pos = ball_state.GetPos() + ball_vel;
	ball_vel *= ServerParam::instance().ballDecay();
}

void BehaviorHoldPlanner::Plan(std::list<ActiveBehavior> & behavior_list)
{
	if (!mSelfState.IsKickable()) return;
	if (mSelfState.IsGoalie()) return;
	if(mStrategy.GetSureOppInterCycle() <= 2 &&
			mStrategy.GetSureOppInterCycle() != 0 ){

		ActiveBehavior hold(mAgent, BT_Hold);
		double        dDist;
		Vector   		posAgent = mSelfState.GetPos();
		PlayerState   objOpp = mWorldState.GetOpponent(mPositionInfo.GetClosestOpponentToBall());
		Vector  	 	posOpp   = objOpp.GetPos();
		dDist = (posOpp - posAgent).Mod();
		AngleDeg      angOpp   = objOpp.GetBodyDir();
		AngleDeg      ang      = 0.0;

		if(dDist < 5 )
		{
			ang = ( posAgent - posOpp ).Dir();
			int iSign = (GetNormalizeAngleDeg( angOpp - ang )) >0 ? -1:1;
			ang +=  iSign*45 - mSelfState.GetBodyDir();
			ang = GetNormalizeAngleDeg( ang );
		}

		if( mBallState.GetPos().Dist(posAgent + Polar2Vector(0.7,ang))< 0.3 )
		{

			Vector   posBallPred = mBallState.GetPredictedPos(1);
			Vector   posPred     = mSelfState.GetPredictedPos(1);
			if( posPred.Dist( posBallPred )< 0.85 * mSelfState.GetKickableArea() )
			{
				hold.mDetailType = BDT_Hold_Turn;
				hold.mEvaluation = 1.0 + FLOAT_EPS;
				hold.mAngle = (Vector(ServerParam::instance().PITCH_LENGTH / 2.0, 0.0) - mSelfState.GetPos()).Dir();
				mActiveBehaviorList.push_back(hold);
			}
		}
		else
		{
			hold.mDetailType = BDT_Hold_Kick;
			hold.mAngle = ang;
			hold.mEvaluation = 1.0 + FLOAT_EPS;
			mActiveBehaviorList.push_back(hold);
		}

		if (!mActiveBehaviorList.empty()) {
			mActiveBehaviorList.sort(std::greater<ActiveBehavior>());
			behavior_list.push_back(mActiveBehaviorList.front());
		}
	}

}

/**
 * 通过传入dash的参数，计算dash后球员的位置和速度
 * Calculate player position and velocity after a dash action. Conflicts or forbidden areas are not
 * considered.
 * \param dash_power.
 * \param dash_dir.
 * \param player_state state of the player who is dashing.
 * \param player_pos will be set to player position after dash.
 * \param player_vel will be set to player velocity after dash.
 */
void ActionEffector::ComputeInfoAfterDash(const double dash_power, double dash_dir,
		const PlayerState &player_state, Vector &player_pos, Vector &player_vel)
{
	double dir_rate = GetDashDirRate(dash_dir);

	if (dash_power < 0.0) {
		dash_dir += 180.0;
	}
    double eff_dash_power = fabs(dash_power) * player_state.GetEffort() * player_state.GetDashPowerRate() * dir_rate;

	Vector accel = Polar2Vector(eff_dash_power, GetNormalizeAngleDeg(player_state.GetBodyDir() + dash_dir));

	player_vel = player_state.GetVel() + accel;
	player_pos = player_state.GetPos() + player_vel;
	player_vel *= player_state.GetPlayerDecay();
}

/**
* 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);
	}
}

/*
* 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;
}

/**
* 计算用同一dash_power到达某点需要的时间
* Caculate cycles needed to a target position with a certain dash power.
* @param player the player to caculate.
* @param target the target position to go to.
* @param dash_power the power for dash to predict.
* @return an integer to show the cycles caculated.
*/
int Dasher::CyclePredictedToPoint(const PlayerState& player , Vector target , double dash_power)
{
	double corrected_dash_power = dash_power;
	double effective_power;
	double predicted_stamina = player.GetStamina();
	double predicted_effort  = player.GetEffort();
	double predicted_recovery = player.GetRecovery();
	double predicted_capacity = player.GetCapacity();
	double myang = player.GetBodyDir();
	Vector position = player.GetPos();
	Vector velocity;

	if (player.GetVelConf() < FLOAT_EPS)
	{
		velocity = Vector(0,0);
	}
	else
	{
		velocity = player.GetVel();
	}

	Vector last_position = position;
	int max_cyc = (int)(position.Dist(target) / player.GetEffectiveSpeedMax() + 100);
	int last_action = 0; /* 0 -- turn , 1 -- dash*/

	for (int i = 0;i < max_cyc;i++)
	{
		if (position.Dist(target) < PlayerParam::instance().AtPointBuffer())
		{
			return i;
		}

		if (position.Dist(target) > last_position.Dist(target) + FLOAT_EPS && last_action == 1)
		{
			return i;
		}

		last_position = position;

		/*decide if we should turn*/
		double targ_ang;
		if (dash_power > 0)
		{
			targ_ang = (target - position).Dir() - myang;
		}
		else
		{
			targ_ang = (target - position).Dir() - GetNormalizeAngleDeg(myang + 180);
		}

		double max_go_to_point_angle_err = 4; //见08CP_max_go_to_point_angle_err
		if (fabs(GetNormalizeAngleDeg(targ_ang)) > max_go_to_point_angle_err)
		{
			/*turnint*/
			double this_turn = MinMax(-player.GetMaxTurnAngle(), GetNormalizeAngleDeg(targ_ang) , player.GetMaxTurnAngle());

			myang += this_turn;
			corrected_dash_power = 0;
			last_action = 0;
		}
		else
		{
			corrected_dash_power = player.CorrectDashPowerForStamina(dash_power);
			if (fabs(corrected_dash_power) > predicted_stamina)
			{
				effective_power = Sign(corrected_dash_power) * predicted_stamina;
			}
			else
			{
				effective_power = corrected_dash_power;
			}

			effective_power *= predicted_effort;
			effective_power *= player.GetDashPowerRate();
			velocity += Polar2Vector(effective_power , myang);
			last_action = 1;
		}

		if (velocity.Mod() > player.GetEffectiveSpeedMax())
		{
			velocity *= (player.GetEffectiveSpeedMax()/ velocity.Mod());
		}

		position += velocity;
		velocity *= player.GetPlayerDecay();

		//08 内UpdatePredictStaminaWithDash函数 直接写入此函数
		if (dash_power > 0)
		{
			predicted_stamina -= dash_power;
		}
		else
//.........这里部分代码省略.........

/**
* 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
//.........这里部分代码省略.........

/**
 * 通过传入turn的参数，计算turn后球员的身体朝向和脖子朝向
 * Calculate player body direction after a turn action.
 * \param turn_angle.
 * \param player_state state of the player who is turning.
 * \param body_dir will be set to player's body direction after turn.
 */
void ActionEffector::ComputeInfoAfterTurn(const AngleDeg moment,
		const PlayerState &player_state, AngleDeg &body_dir)
{
	double turn_angle = GetTurnAngle(moment, player_state.GetPlayerType(), player_state.GetVel().Mod());
	body_dir = GetNormalizeAngleDeg(player_state.GetBodyDir() + turn_angle);
}