柚子快報激活碼778899分享：算法 ?？棺闱驒C器人Day4

http://yzkb.51969.com/

一、一次傳球（踢球）代碼

（1）C++代碼

?這是C++代碼里面的chuanqiu2代碼

#include "ball.h"

#include "basevision.h"

#include "constants.h"

#include "FilteredObject.h"

#include "game_state.h"

#include "historylogger.h"

#include "matchstate.h"

#include "maths.h"

#include "PlayerTask.h"

#include "referee_commands.h"

#include "robot.h"

#include "singleton.h"

#include "util.h"

#include "vector.h"

#include "worldmodel.h"

extern "C"_declspec(dllexport) PlayerTask player_plan(const WorldModel* model, int robot_id);

PlayerTask player_plan(const WorldModel* model, int robot_id)

{

PlayerTask task;

//傳球機器人的位置朝向

//獲取中場機器人的向量坐標(biāo)

const point2f&reciver_pos = model->get_our_player_pos(2);

//獲取中場機器人的朝向

const float& reciver_dir = model->get_our_player_dir(2);

//獲取球的向量坐標(biāo)

const point2f&ball_pos = model->get_ball_pos();

//接球機器人的位置朝向

//獲取前鋒機器人的向量坐標(biāo)

const point2f&kicker_pos = model->get_our_player_pos(1);

//獲取前鋒機器人的朝向

const float& kicker_dir = model->get_our_player_dir(1);

//判斷球是否在小車控球嘴上，從兩個參數(shù)著手：1.判斷ball到車的距離是否小于某個值，2.車頭方向和車到球矢量角度之差值是否小于某個值

bool get_ball = (ball_pos - kicker_pos).length() < get_ball_threshold - 25 && (fabs(anglemod(kicker_dir - (ball_pos - kicker_pos).angle())) < PI / 6);

if (get_ball)

{

//執(zhí)行平擊踢球，力度為最大127

task.kickPower = 127;

//踢球開關(guān)

task.needKick = true;

//挑球開關(guān)

task.isChipKick = false;

}

return task;

}

?重點：

bool get_ball = (ball_pos - kicker_pos).length() < get_ball_threshold - 25 && (fabs(anglemod(kicker_dir - (ball_pos - kicker_pos).angle())) < PI / 6);

?修改這個代碼的數(shù)值會讓機器人在找到自己位置之后，判斷是否要踢球的時候更加的精確，失誤率更小

（2）lua腳本代碼

gPlayTable.CreatePlay{

firstState = "GetBall",

["GetBall"] = {

switch = function()

if CIsGetBall("Kicker")then

return "PassBall"

end

end,

Kicker = task.KickerTask("chuanqiu1"),

receiver = task.ReceiverTask("jieqiu")

},

["PassBall"] = {

switch = function()

if CIsBallKick("Kicker")then

return "Finish"

end

end,

Kicker = task.KickerTask("chuanqiu2"),

},

name = "chuanqiu3"

}

（3）C++里面的chuanqiu1和jieqiu代碼

?chuanqiu1

#include "ball.h"

#include "basevision.h"

#include "constants.h"

#include "FilteredObject.h"

#include "game_state.h"

#include "historylogger.h"

#include "matchstate.h"

#include "maths.h"

#include "PlayerTask.h"

#include "referee_commands.h"

#include "robot.h"

#include "singleton.h"

#include "util.h"

#include "vector.h"

#include "worldmodel.h"

extern "C"_declspec(dllexport) PlayerTask player_plan(const WorldModel* model, int robot_id);

PlayerTask player_plan(const WorldModel* model, int robot_id)

{

PlayerTask task;

//獲取對方機器人的向量坐標(biāo)

const point2f& kicker_pos = model->get_opp_player_pos(2);

//獲取對方球員的朝向

const float&kicker_dir = model->get_opp_player_dir(2);

//獲取球的向量坐標(biāo)

const point2f&ball_pos = model->get_ball_pos();

//這里設(shè)定face_dir是接球機器人朝向球的方向

const float&face_dir = (kicker_pos - ball_pos).angle();

//到達目標(biāo)點朝向：隊員正對球

task.orientate = face_dir;

//需要到達目標(biāo)點的坐標(biāo)=球的位置+向量偏移距離//fac_dir反方向偏移200

task.target_pos = ball_pos - Maths::vector2polar(20, face_dir);

return task;

}

jieqiu

#include "ball.h"

#include "basevision.h"

#include "constants.h"

#include "FilteredObject.h"

#include "game_state.h"

#include "historylogger.h"

#include "matchstate.h"

#include "maths.h"

#include "PlayerTask.h"

#include "referee_commands.h"

#include "robot.h"

#include "singleton.h"

#include "util.h"

#include "vector.h"

#include "worldmodel.h"

extern "C"_declspec(dllexport) PlayerTask player_plan(const WorldModel* model, int robot_id);

PlayerTask player_plan(const WorldModel* model, int robot_id)

{

PlayerTask task;

//獲取對方機器人的向量坐標(biāo)

const point2f& player_pos = model->get_opp_player_pos(robot_id);

//獲取對方球員的朝向

const float&player_dir = model->get_opp_player_dir(robot_id);

//獲取球的向量坐標(biāo)

const point2f&ball_pos = model->get_ball_pos();

//這里設(shè)定face_dir是接球機器人朝向球的方向

const float&face_dir = (player_pos - ball_pos).angle();

//到達目標(biāo)點朝向：隊員正對球

task.orientate = face_dir;

//需要到達目標(biāo)點的坐標(biāo)=球的位置+向量偏移距離//fac_dir反方向偏移200

task.target_pos = ball_pos - Maths::vector2polar(200, face_dir);

return task;

}

柚子快報激活碼778899分享：算法 ?？棺闱驒C器人Day4

http://yzkb.51969.com/

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