Basic Behavior Of Offensive Player(agent2d)

ワンマン的覚書（中間報告会直後、超メモ）

Basic Behavior Of Offensive Player(agent2d) †

bhv_basic_offensive_kick.cpp

/*
*Copyright:

Copyright (C) Hidehisa AKIYAMA

This code is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2, or (at your option)
any later version.

This code is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this code; see the file COPYING.  If not, write to
the Free Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.

*EndCopyright:
*/

\///////////////////////////////////////////////////////////////////// (略)

/*-------------------------------------------------------------------*/ /*!

\*/ bool Bhv_BasicOffensiveKick?::execute( rcsc::PlayerAgent? * agent ) {

  (略)

Best passが存在するならば、 †

   if ( rcsc::Body_Pass::get_best_pass( wm, &pass_point, NULL, NULL ) )
   {

pass pointが自分よりも前ならば、 †

       if ( pass_point.x > wm.self().pos().x - 1.0 )
       {
           bool safety = true;
           const rcsc::PlayerPtrCont::const_iterator opps_end = opps.end();
           for ( rcsc::PlayerPtrCont::const_iterator it = opps.begin();
                 it != opps_end;
                 ++it )
           {
               if ( (*it)->pos().dist( pass_point ) < 4.0 )
               {
                   safety = false;
               }
           }

           if ( safety )
           {
               rcsc::dlog.addText( rcsc::Logger::TEAM,
                                   "%s:%d: do best pass"
                                   ,__FILE__, __LINE__ );
               agent->debugClient().addMessage( "OffKickPass(1)" );
               rcsc::Body_Pass().execute( agent );
               agent->setNeckAction( new rcsc::Neck_TurnToLowConfTeammate() );
               return true;
           }
       }
   }

一番近い敵との距離が7.0[m]未満ならば、 †

   if ( nearest_opp_dist < 7.0 )
   {

Body Passが実行できたならば、 †

       if ( rcsc::Body_Pass().execute( agent ) )
       {
           rcsc::dlog.addText( rcsc::Logger::TEAM,
                               "%s:%d: do best pass"
                               ,__FILE__, __LINE__ );
           agent->debugClient().addMessage( "OffKickPass(2)" );
           agent->setNeckAction( new rcsc::Neck_TurnToLowConfTeammate() );
           return true;
       }
   }

一番近い敵との距離が5.0[m]未満で、かつ。。。ならば、 †

   if ( nearest_opp_dist < 5.0
        && nearest_opp_dist > ( rcsc::ServerParam::i().tackleDist()
                                + rcsc::ServerParam::i().defaultPlayerSpeedMax() * 1.5 )
        && wm.self().body().abs() < 70.0 )
   {
       const rcsc::Vector2D body_dir_drib_target
           = wm.self().pos()
           + rcsc::Vector2D::polar2vector(5.0, wm.self().body());

       int max_dir_count = 0;
       wm.dirRangeCount( wm.self().body(), 20.0, &max_dir_count, NULL, NULL );

       if ( body_dir_drib_target.x < rcsc::ServerParam::i().pitchHalfLength() - 1.0
            && body_dir_drib_target.absY() < rcsc::ServerParam::i().pitchHalfWidth() - 1.0
            && max_dir_count < 3
            )
       {
           // check opponents
           // 10m, +-30 degree
           const rcsc::Sector2D sector( wm.self().pos(),
                                        0.5, 10.0,
                                        wm.self().body() - 30.0,
                                        wm.self().body() + 30.0 );
           // opponent check with goalie
           if ( ! wm.existOpponentIn( sector, 10, true ) )
           {
               rcsc::dlog.addText( rcsc::Logger::TEAM,
                                   "%s:%d: dribble to my body dir"
                                   ,__FILE__, __LINE__ );
               agent->debugClient().addMessage( "OffKickDrib(1)" );
               rcsc::Body_Dribble( body_dir_drib_target,
                                   1.0,
                                   rcsc::ServerParam::i().maxPower(),
                                   2
                                   ).execute( agent );
               agent->setNeckAction( new rcsc::Neck_TurnToLowConfTeammate() );
               return true;
           }
       }
   }

   rcsc::Vector2D drib_target( 50.0, wm.self().pos().absY() );
   if ( drib_target.y < 20.0 ) drib_target.y = 20.0;
   if ( drib_target.y > 29.0 ) drib_target.y = 27.0;
   if ( wm.self().pos().y < 0.0 ) drib_target.y *= -1.0;
   const rcsc::AngleDeg drib_angle = ( drib_target - wm.self().pos() ).th();

   ** opponent is behind of me

opponent is behind of me †

   if ( nearest_opp_pos.x < wm.self().pos().x + 1.0 )
   {

check opponents †

       // 15m, +-30 degree
       const rcsc::Sector2D sector( wm.self().pos(),
                                    0.5, 15.0,
                                    drib_angle - 30.0,
                                    drib_angle + 30.0 );
       *** opponent check with goalie

opponent check with goalie †

       if ( ! wm.existOpponentIn( sector, 10, true ) )
       {
           const int max_dash_step
               = wm.self().playerType()
               .cyclesToReachDistance( wm.self().pos().dist( drib_target ) );
           if ( wm.self().pos().x > 35.0 )
           {
               drib_target.y *= ( 10.0 / drib_target.absY() );
           }

           rcsc::dlog.addText( rcsc::Logger::TEAM,
                               "%s:%d: fast dribble to (%.1f, %.1f) max_step=%d"
                               ,__FILE__, __LINE__,
                               drib_target.x, drib_target.y,
                               max_dash_step );
           agent->debugClient().addMessage( "OffKickDrib(2)" );
           rcsc::Body_Dribble( drib_target,
                               1.0,
                               rcsc::ServerParam::i().maxPower(),
                               std::min( 5, max_dash_step )
                               ).execute( agent );
       }
       else
       {
           rcsc::dlog.addText( rcsc::Logger::TEAM,
                               "%s:%d: slow dribble to (%f, %f)"
                               ,__FILE__, __LINE__,
                               drib_target.x, drib_target.y );
           agent->debugClient().addMessage( "OffKickDrib(3)" );
           rcsc::Body_Dribble( drib_target,
                               1.0,
                               rcsc::ServerParam::i().maxPower(),
                               2
                               ).execute( agent );

       }
       agent->setNeckAction( new rcsc::Neck_TurnToLowConfTeammate() );
       return true;
   }

   ** opp is far from me

opp is far from me †

   if ( nearest_opp_dist > 5.0 )
   {
       rcsc::dlog.addText( rcsc::Logger::TEAM,
                           "%s:%d: opp far. dribble(%f, %f)"
                           ,__FILE__, __LINE__,
                           drib_target.x, drib_target.y );
       agent->debugClient().addMessage( "OffKickDrib(4)" );
       rcsc::Body_Dribble( drib_target,
                           1.0,
                           rcsc::ServerParam::i().maxPower() * 0.4,
                           1
                           ).execute( agent );
       agent->setNeckAction( new rcsc::Neck_TurnToLowConfTeammate() );
       return true;
   }

   ** opp is near

opp is near †

   *** can pass

can pass †

   if ( rcsc::Body_Pass().execute( agent ) )
   {
       rcsc::dlog.addText( rcsc::Logger::TEAM,
                           "%s:%d: pass"
                           ,__FILE__, __LINE__ );
       agent->debugClient().addMessage( "OffKickPass(3)" );
       agent->setNeckAction( new rcsc::Neck_TurnToLowConfTeammate() );
       return true;
   }

   ** opp is far from me

opp is far from me †

   if ( nearest_opp_dist > 3.0 )
   {
       rcsc::dlog.addText( rcsc::Logger::TEAM,
                           "%s:%d: opp far. dribble(%f, %f)"
                           ,__FILE__, __LINE__,
                           drib_target.x, drib_target.y );
       agent->debugClient().addMessage( "OffKickDrib(5)" );
       rcsc::Body_Dribble( drib_target,
                           1.0,
                           rcsc::ServerParam::i().maxPower() * 0.2,
                           1
                           ).execute( agent );
       agent->setNeckAction( new rcsc::Neck_TurnToLowConfTeammate() );
       return true;
   }

   if ( nearest_opp_dist > 2.5 )
   {
       rcsc::dlog.addText( rcsc::Logger::TEAM,
                           "%s:%d: hold"
                           ,__FILE__, __LINE__ );
       agent->debugClient().addMessage( "OffKickHold" );
       rcsc::Body_HoldBall().execute( agent );
       agent->setNeckAction( new rcsc::Neck_TurnToLowConfTeammate() );
       return true;
   }

   if ( wm.self().pos().x > wm.offsideLineX() - 10.0 )
   {
       rcsc::dlog.addText( rcsc::Logger::TEAM,
                           "%s:%d: kick near side"
                           ,__FILE__, __LINE__ );
       agent->debugClient().addMessage( "OffKickToCorner" );
       Body_KickToCorner( (wm.self().pos().y < 0.0) ).execute( agent );
       agent->setNeckAction( new rcsc::Neck_ScanField() );
   }
   else
   {
       rcsc::dlog.addText( rcsc::Logger::TEAM,
                           "%s:%d: advance"
                           ,__FILE__, __LINE__ );
       agent->debugClient().addMessage( "OffKickAdvance" );
       rcsc::Body_AdvanceBall().execute( agent );
       agent->setNeckAction( new rcsc::Neck_ScanField() );
   }

   return true;

}