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// -*-c++-*-
/*
*Copyright:
Copyright (C) Hiroki SHIMORA
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 "actgen_direct_pass.h"
#include "pass.h"
#include "simple_pass_checker.h"
#include "predict_state.h"
#include "action_state_pair.h"
#include <rcsc/player/world_model.h>
#include <rcsc/player/intercept_table.h>
#include <rcsc/common/server_param.h>
#include <rcsc/common/logger.h>
#include <rcsc/math_util.h>
#include <vector>
// #define DEBUG_PRINT
#ifdef DEBUG_PRINT
#include "action_chain_graph.h"
#endif
using namespace rcsc;
static const double SAME_PASSER_POS_THRESHOLD2 = std::pow( 10.0, 2 );
namespace {
/*-------------------------------------------------------------------*/
/*!
*/
double
s_get_ball_speed_for_pass( const double & distance )
{
if ( distance >= 20.0 )
{
//return 3.0;
return 2.5;
}
else if ( distance >= 8.0 )
{
//return 2.5;
return 2.0;
}
else if ( distance >= 5.0 )
{
return 1.8;
}
else
{
return 1.5;
}
}
}
/*-------------------------------------------------------------------*/
/*!
*/
ActGen_DirectPass::ActGen_DirectPass()
{
}
/*-------------------------------------------------------------------*/
/*!
*/
ActGen_DirectPass::~ActGen_DirectPass()
{
}
/*-------------------------------------------------------------------*/
/*!
*/
void
ActGen_DirectPass::generate( std::vector< ActionStatePair > * result,
const PredictState & state,
const WorldModel & current_wm,
const std::vector< ActionStatePair > & path ) const
{
static const int VALID_PLAYER_THRESHOLD = 10;
static GameTime s_last_call_time( 0, 0 );
static int s_action_count = 0;
if ( current_wm.time() != s_last_call_time )
{
s_action_count = 0;
s_last_call_time = current_wm.time();
}
#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION_CHAIN,
"========== (ActGen_DirectPass::generate)" );
#endif
//
// check same situation in history
//
bool old_holder_table[11];
for ( int i = 0; i < 11; ++i )
{
old_holder_table[i] = false;
}
#ifdef DEBUG_PRINT
ActionChainGraph::writeChainInfoLog( "branch cut checking: history = ",
current_wm, path, 0.0 );
#endif
for ( int c = static_cast< int >( path.size() ) - 1; c >= 0; --c )
{
int ball_holder_unum = Unum_Unknown;
if ( c == 0 )
{
int self_min = current_wm.interceptTable()->selfReachCycle();
int teammate_min = current_wm.interceptTable()->teammateReachCycle();
if ( teammate_min < self_min )
{
const PlayerObject * teammate = current_wm.interceptTable()->fastestTeammate();
if ( teammate )
{
ball_holder_unum = teammate->unum();
}
}
else
{
ball_holder_unum = current_wm.self().unum();
}
}
else
{
ball_holder_unum = path[c - 1].state().ballHolder()->unum();
}
#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION_CHAIN,
"direct: path=%d, ball_holder=%d",
c, ball_holder_unum );
#endif
if ( ball_holder_unum == Unum_Unknown )
{
#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION_CHAIN,
"__ unknown number ball holder" );
#endif
continue;
}
old_holder_table[ ball_holder_unum - 1 ] = true;
}
#ifdef DEBUG_PRINT
for ( int unum = 1; unum <= 11; ++unum )
{
dlog.addText( Logger::ACTION_CHAIN,
"direct: num=%d, ignore? = %s",
unum,
( old_holder_table[ unum - 1 ] ? "true" : "false" ) );
}
#endif
//
// add pass candidates
//
const rcsc::AbstractPlayerObject * holder = state.ballHolder();
if ( ! holder )
{
#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION_CHAIN,
"direct: invalid holder" );
#endif
return;
}
const SimplePassChecker pass_check;
int generated_count = 0;
for ( PredictPlayerPtrCont::const_iterator
it = state.ourPlayers().begin(),
end = state.ourPlayers().end();
it != end;
++it )
{
if ( ! (*it)->isValid() ) continue;
#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION_CHAIN,
"direct: checking to %d", (*it)->unum() );
#endif
if ( (*it)->unum() != Unum_Unknown
&& old_holder_table[ (*it)->unum() - 1 ] )
{
#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION_CHAIN,
"direct: ignored old holder %d",
(*it)->unum() );
#endif
continue;
}
if ( (*it)->unum() == state.ballHolderUnum() )
{
#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION_CHAIN,
"direct: ignored direct pass to self" );
#endif
continue;
}
if ( (*it)->posCount() > VALID_PLAYER_THRESHOLD
|| (*it)->isGhost()
|| (*it)->unum() == Unum_Unknown
|| (*it)->unumCount() > VALID_PLAYER_THRESHOLD
|| (*it)->isTackling() )
{
#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION_CHAIN,
"direct: can't pass from %d to %d(%.1f %.1f),"
" target accuracy low",
holder->unum(),
(*it)->unum(), (*it)->pos().x, (*it)->pos().y );
#endif
continue;
}
//
// check direct pass
//
const double dist = ( (*it)->pos() - holder->pos() ).r();
const double ball_speed = s_get_ball_speed_for_pass( ( (*it)->pos() - holder->pos() ).r() );
if ( ! pass_check( state, *holder, **it, (**it).pos(), ball_speed ) )
{
#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION_CHAIN,
"direct: can't pass from %d to %d",
holder->unum(), (*it)->unum() );
#endif
continue;
}
const unsigned long kick_step = 2;
const unsigned long spend_time
= calc_length_geom_series( ball_speed,
dist,
ServerParam::i().ballDecay() )
+ kick_step;
PredictState::ConstPtr result_state( new PredictState( state,
spend_time,
(*it)->unum(),
(*it)->pos() ) );
CooperativeAction::Ptr action( new Pass( holder->unum(),
(*it)->unum(),
(*it)->pos(),
ball_speed,
spend_time,
kick_step,
false,
"actgenDirect" ) );
++s_action_count;
++generated_count;
action->setIndex( s_action_count );
result->push_back( ActionStatePair( action, result_state ) );
}
#ifdef DEBUG_PRINT
dlog.addText( Logger::ACTION_CHAIN,
__FILE__": Direct path=%d, generated=%d total=%d",
path.size(),
generated_count, s_action_count );
#endif
}