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// -*-c++-*-
/*
*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 3, 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:
*/
/////////////////////////////////////////////////////////////////////
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
#include "bhv_basic_move.h"
#include "strategy.h"
#include "bhv_basic_tackle.h"
#include <rcsc/action/basic_actions.h>
#include <rcsc/action/body_go_to_point.h>
#include <rcsc/action/body_intercept.h>
#include <rcsc/action/neck_turn_to_ball_or_scan.h>
#include <rcsc/action/neck_turn_to_low_conf_teammate.h>
#include <rcsc/player/player_agent.h>
#include <rcsc/player/debug_client.h>
#include <rcsc/player/intercept_table.h>
#include <rcsc/common/logger.h>
#include <rcsc/common/server_param.h>
#include "neck_offensive_intercept_neck.h"
using namespace rcsc;
/*-------------------------------------------------------------------*/
/*!
*/
bool
Bhv_BasicMove::execute( PlayerAgent * agent )
{
dlog.addText( Logger::TEAM,
__FILE__": Bhv_BasicMove" );
bool success = false;
//-----------------------------------------------
// tackle
if ( Bhv_BasicTackle( 0.8, 80.0 ).execute( agent ) )
{
return true;
}
const WorldModel & wm = agent->world();
/*--------------------------------------------------------*/
// chase ball
const int self_min = wm.interceptTable()->selfReachCycle();
const int mate_min = wm.interceptTable()->teammateReachCycle();
const int opp_min = wm.interceptTable()->opponentReachCycle();
if ( ! wm.existKickableTeammate()
&& ( self_min <= 3
|| ( self_min <= mate_min
&& self_min < opp_min + 3 )
)
)
{
dlog.addText( Logger::TEAM,
__FILE__": intercept" );
success = Body_Intercept().execute( agent );
agent->setNeckAction( new Neck_OffensiveInterceptNeck() );
return success;
}
const Vector2D target_point = Strategy::i().getPosition( wm.self().unum() );
const double dash_power = Strategy::get_normal_dash_power( wm );
const BallObject& ball = wm.ball();
double dist_thr = ball.distFromSelf() * 0.1;
if ( dist_thr < 1.0 ) dist_thr = 1.0;
dlog.addText( Logger::TEAM,
__FILE__": Bhv_BasicMove target=(%.1f %.1f) dist_thr=%.2f",
target_point.x, target_point.y,
dist_thr );
agent->debugClient().addMessage( "BasicMove%.0f", dash_power );
agent->debugClient().setTarget( target_point );
agent->debugClient().addCircle( target_point, dist_thr );
if ( Body_GoToPoint( target_point, dist_thr, dash_power
).execute( agent ) ||
Body_TurnToBall().execute( agent ) ) {
if (ball.rposValid() || wm.self().collidesWithPost()) {
success = true;
} else {
success = false;
}
} else {
success = false;
}
if ( wm.existKickableOpponent() &&
ball.rposValid()
&& wm.ball().distFromSelf() < 18.0 )
{
agent->setNeckAction( new Neck_TurnToBall() );
}
else
{
agent->setNeckAction( new Neck_TurnToBallOrScan() );
}
return success;
}