deMeer5_Attacker

SoccerCommand Player::deMeer5_Attacker()
{
SoccerCommand soc(CMD_ILLEGAL);

if (WM->isBeforeKickOff())
{
if (formations->getFormation() != FT_INITIAL || //不在开球的阵型
    WM->getAgentGlobalPosition().getDistanceTo(WM->getStrategicPosition()) > 2.0)//返回当前球员位置
   {
    formations->setFormation(FT_INITIAL); // go to kick_off formation
    soc = teleportToPos(WM->getStrategicPosition());//返回一个move命令将agent移到某一位置；返回一队员的战略位置
   }
else if (WM->isKickOffUs() && WM->getPlayerNumber() == KICKOFF_TEAMMATE_NUM) //我们开球，返回开球球员号码
   {
if (WM->isBallKickable())//球可踢
    {
     ObjectT ClosestTeamMate_Midfielder_Wing = WM->getClosestPlayerRelativeInSet(OBJECT_SET_TEAMMATES, PT_MIDFIELDER_WING);//我方最近的边侧中卫,返回最近球员的相对位置
     if (ClosestTeamMate_Midfielder_Wing == OBJECT_ILLEGAL)
     {
      soc = SoccerCommand(CMD_TURN, VecPosition::normalizeAngle(WM->getAgentGlobalBodyAngle() + 60));//标准化角度（-180，180）；返回当前agent身体的绝对角度
      ACT->putCommandInQueue(alignNeckWithBody());//该skill使agent的脖子转向同身体一样的方向。该方法返回一个turn neck命令，并将身体相对于脖子的角度作为参数。
     }
else
     {
      soc = directPass(WM->getGlobalPosition(ClosestTeamMate_Midfielder_Wing), PASS_NORMAL);//返回全局位置
//该方法使agent将球直接传给其他队员。参数pos表示传球的目的位置，通常是队友所在位置。
//参数passType表示传球类型（PASS_NORMAL或PASS_FAST）。该方法调用kickTo将球以一个根据
//传球类型得出的期望的末速度踢向目标位置。
     }
     Log.log(100, "take kick off");
    }
else
    {
     soc = intercept(false);//false 不是守门员
//当截球方法被调用，首先判断agent能否在两个周期内使用closeIntercept
//（对于守门员是closeIntereptGoalie）截球。当两个周期内不能实现时，
//则agent使用一种迭代的方案即通过方法getInterceptionPointBall计算最优截球点。
     Log.log(100, "move to ball to take kick-off");
    }
   }
else // else turn to front
   {
    soc = turnBodyToPoint(WM->getAgentGlobalPosition() + VecPosition(1, 0), 0);//将agent的身体转向某一点;返回当前agent的绝对位置。
    ACT->putCommandInQueue(turnNeckToPoint(WM->getBallPos(), soc));//将agent的脖子转向某点，它接收一个场上的绝对目标点
   }
}
else
{
   soc = sonruoxin4attacker();
}
ACT->putCommandInQueue(soc);
ACT->putCommandInQueue(WM->getChangeViewCommand());
return soc;
}

SoccerCommand Player::sonruoxin4attacker()
{
SoccerCommand soc(CMD_ILLEGAL);
ObjectT ClosestTeamMateAhead = WM->getClosestAheadRelativeInSet(OBJECT_SET_TEAMMATES_NO_GOALIE);
ObjectT ClosestOpponentAhead = WM->getClosestAheadRelativeInSet(OBJECT_SET_OPPONENTS);
ObjectT ClosestTeamMate = WM->getClosestRelativeInSet(OBJECT_SET_TEAMMATES);
ObjectT ClosestOpponent = WM->getClosestRelativeInSet(OBJECT_SET_OPPONENTS);
static bool DeadBallUsLock = false;
int iTmp;

if (WM->getConfidence(OBJECT_BALL) < PS->getBallConfThr())// 返回该对象信息的可信度。该可信度是与上次看到这个对象以及特定的时间（一般为上次接受信息的时间）相关的。
{
   soc = searchBall(); // if ball pos unknown
   ACT->putCommandInQueue(alignNeckWithBody()); //使agent的脖子转向同身体一样的方向。该方法返回一个turn neck命令，并将身体相对于脖子的角度作为参数。
}
else if (WM->isBallKickable()) // if kickable
{
if (fabs(WM->getBallPos().getX()) > fabs(WM->predictPosAfterNrCycles(OBJECT_OPPONENT_GOALIE, 1).getX()))
//对于直线上的点，给出y坐标求x坐标该方法预测对象o经过iCycle周期后的位置。如果对象为球，则只考虑球速的衰减。如果对象是球员，则假设球员每周期使用iDashPower进行dash。。
   {
if (WM->getAgentGlobalPosition().getDistanceTo(WM->getPosOpponentGoal())>25)//返回对方球门的位置坐标
    {
     soc = dribble((WM->getPosOpponentGoal()-WM->getAgentGlobalPosition()).getDirection(), 12);//返回当前坐标的方向。
//该方法使agent盘球(带球)
    }
else
    {
     soc = kickTo(WM->getPosOpponentGoal(), SS->getBallSpeedMax());
    }
//cout<<WM->getCurrentCycle()<<' '<<WM->getPlayerNumber()<<" Ahead of goalie"<<endl;
   }
else
   {
//shoot
    VecPosition ShootPoint,ShootChioce;
    VecPosition posAgent = WM->getAgentGlobalPosition();
    VecPosition posGoalKeeper= WM->getGlobalPosition(OBJECT_OPPONENT_GOALIE);
double shoot_value=-100,value;
double shoot_range = max(SS->getGoalWidth() * WM->getAgentGlobalPosition().getDistanceTo(
     WM->getPosOpponentGoal()) / PITCH_LENGTH, 0.3);//场地长度
    for(ShootPoint=VecPosition(PITCH_LENGTH/2,WM->getPosOpponentGoalTop().getY()+shoot_range);//(52.5,7.62)
        ShootPoint.getY()<=WM->getPosOpponentGoalBottom().getY() - shoot_range;//-7.62
        ShootPoint.setY(ShootPoint.getY()+0.3))
    {
if ((value=getshootprofit(ShootPoint))>shoot_value)
     {
      shoot_value=value;
      ShootChioce=ShootPoint;
     }
    }
    Log.log(100,"shoot_value is %lf",shoot_value);
    Log.log(100,"VecPosition.y is %lf",ShootChioce.getY());
if (( (shoot_value>26&&WM->getBallPos().getDistanceTo(posGoalKeeper)<14)
     ||(WM->getConfidence(OBJECT_OPPONENT_GOALIE)<0.95&&WM->getBallPos().getX()>35&&fabs(WM->getBallPos().getY())<20)
     ||WM->getBallPos().getDistanceTo(posGoalKeeper)<7)
     &&!WM->isIndirectFreeKickUs())///我们是否有个free kick
    {
     soc=kickTo(ShootChioce,SS->getBallSpeedMax());
     ACT->putCommandInQueue(alignNeckWithBody());
     DeadBallUsLock = false;
     Log.log(100, " shoot");
    }
else
if (WM->isDeadBallUs() && WM->getConfidence(ClosestTeamMate) < 0.98)
     {
      Log.log(100, " our dead ball, search for teammate");
      soc = SoccerCommand(CMD_TURN, VecPosition::normalizeAngle(WM->getAgentGlobalBodyAngle() + 60));
      ACT->putCommandInQueue(alignNeckWithBody());
      WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NORMAL, VQ_HIGH));
     }
else
     {
double disToOpp=WM->getAgentGlobalPosition().getDistanceTo(WM->getGlobalPosition(ClosestOpponentAhead));
if ((ClosestOpponentAhead==OBJECT_ILLEGAL || disToOpp>11) && !WM->isDeadBallUs()&&WM->getAgentStamina().getStamina()>2500)
      {
       Log.log(100,"dribble very fast 8 ");
double length;
if (fabs(WM->getBallPos().getX())<5)
       {
        soc=dribble((WM->getPosOpponentGoal()-WM->getBallPos()).getDirection(),5);
       }
else soc=dribble((WM->getPosOpponentGoal()-WM->getBallPos()).getDirection(),8);
if (WM->getBallPos().getX()<40&&fabs(WM->getBallPos().getY())<20)
       {
        ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
       }
else
       {
        ACT->putCommandInQueue(lookaround(soc));
       }
      }
else if (disToOpp>9 && !WM->isDeadBallUs()&&WM->getAgentStamina().getStamina()>2000)
      {
       Log.log(100,"dribble fast 7");
if (fabs(WM->getBallPos().getX())<5)
       {
        soc=dribble((WM->getPosOpponentGoal()-WM->getBallPos()).getDirection(),5);
       }
else soc=dribble((WM->getPosOpponentGoal()-WM->getBallPos()).getDirection(),7);
if (WM->getBallPos().getX()<40&&fabs(WM->getBallPos().getY())<20)
       {
        ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
       }
else
       {
        ACT->putCommandInQueue(lookaround(soc));
       }
      }
else if (disToOpp>6 && !WM->isDeadBallUs())
      {
       soc=dribble((WM->getPosOpponentGoal()-WM->getBallPos()).getDirection(),5);
       Log.log(100,"dribble 5");
if (WM->getBallPos().getX()<40&&fabs(WM->getBallPos().getY())<20)
       {
        ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
       }
else
       {
        ACT->putCommandInQueue(lookaround(soc));
       }
      }
else
      {
//pass
       if (!WM->isDeadBallUs())
       { soc=getBestPassCmd_Attacker();
if (soc.commandType == CMD_ILLEGAL) soc = getSecondPassCmd_Attacker(8);
       }
else
       {
if ((ClosestTeamMate!=OBJECT_ILLEGAL)&&(WM->getAgentGlobalPosition().getDistanceTo(ClosestTeamMate)<10)) soc=directPass(ClosestTeamMate,PASS_NORMAL);
       }
if (soc.commandType != CMD_ILLEGAL)
       {
// prevent too smart kick
        if (WM->isDeadBallUs() && soc.dPower < 30.0) soc.dPower = 50.0;
        ACT->putCommandInQueue(lookaround(soc));
       }
else if ( // if stamina low
        WM->getAgentStamina().getStamina() < SS->getRecoverDecThr() * SS->getStaminaMax() + 600)
       {
if (WM->getBallPos().getX()<36&&ClosestTeamMate!=OBJECT_ILLEGAL&&WM->isOnside(ClosestTeamMate)&&WM->getConfidence(ClosestTeamMate)>0.95)
        {
if (WM->getGlobalPosition(ClosestTeamMate).getY()>0)
          soc= throughPass(ClosestTeamMate,VecPosition(52.5,6));
else
          soc= throughPass(ClosestTeamMate,VecPosition(52.5,-6));
         Log.log(100,"through pass");

        }
else
        {
         VecPosition posOpGK=WM->getGlobalPosition(OBJECT_OPPONENT_GOALIE);
if (posOpGK.getX()>0) soc=kickTo(VecPosition(52.5,-6),SS->getBallSpeedMax());
else soc=kickTo(VecPosition(52.5,6),SS->getBallSpeedMax());
        }
       }
else if (!WM->isDeadBallUs())
       {
if (disToOpp>2)
        {
double angOpp=VecPosition::normalizeAngle(WM->getGlobalBodyAngle(ClosestOpponentAhead));
double outPlayAng;
if ((angOpp>=0)&&(angOpp<180)) outPlayAng=fabs(VecPosition::normalizeAngle(angOpp+45));
else   outPlayAng=fabs(VecPosition::normalizeAngle(angOpp-45));
         soc=dribble(outPlayAng,5);
         Log.log(100,"dangerous outPlayAng is %lf ",outPlayAng);
        }
/*else if (disToOpp>2)
        {

        double angOpp=VecPosition::normalizeAngle(WM->getGlobalBodyAngle(ClosestOpponentAhead));
        double outPlayAng;
        if ((angOpp>=0)&&(angOpp<180)) outPlayAng=angOpp+45;
        else   outPlayAng=angOpp-45;
        VecPosition PosTo=WM->getAgentGlobalPosition()+VecPosition(3,outPlayAng,POLAR),*ballpos;
        soc=outplayOpponent(ClosestOpponentAhead,PosTo,ballpos);
        Log.log(100,"outplay");
       }*/
else
        {
         soc=holdBall();
         Log.log(100,"hold ball");
        }
//soc=getBestDribbleCmd_Attacker(-100);
        if (WM->getBallPos().getX()<40&&fabs(WM->getBallPos().getY())<20)
        {
         ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
        }
else
        {
         ACT->putCommandInQueue(lookaround(soc));
        }
       }
      }
      WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH));
    }
   }
}
else if (WM->getBallPos().getDistanceTo(WM->predictPosAfterNrCycles(OBJECT_OPPONENT_GOALIE, 1)) <= SS->getTackleDist()+1 && WM->getProbTackleSucceeds() > PS->getTackleConfThr() )
{
   soc = tackle((WM->getPosOpponentGoal()-WM->getAgentGlobalPosition()).getDirection());
}
// if we get a dead ball, and it's not in our penalty area (if is, the goalie will take it sooner or later)
// if this player is closest to the ball, he will go to take the ball
else if (WM->isDeadBallUs()
   && WM->getClosestInSetTo(OBJECT_SET_TEAMMATES, OBJECT_BALL) == WM->getAgentObjectType())
{
   Log.log(100, " go to take dead ball");
// if not in position, move to position
   if (WM->getRelativeDistance(OBJECT_BALL) >= SS->getMaximalKickDist())
   {
    soc = moveToPos(getDeadBallPosition(), 5); // move to take dead ball
// if stamina low, dash slowly
    if (soc.commandType == CMD_DASH && WM->getAgentStamina().getStamina() < SS->getRecoverDecThr() * SS->getStaminaMax() + 800)
    {
     Log.log(100, " but stamina is too low");
     soc.dPower = 30.0 * WM->getAgentStamina().getRecovery();
    }
    ACT->putCommandInQueue(lookaround(soc));
   }
// else wait till kickable signal
   else
   {
    soc = turnBodyToPoint(WM->getPosOpponentGoal());
    ACT->putCommandInQueue(lookaround(soc));
   }
   WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH));
}
// if this player is 2nd closest to the ball, he will go to back up the 1st one
else if (WM->isDeadBallUs() && !WM->isBallInOwnPenaltyArea()
   && WM->getSecondClosestInSetTo(OBJECT_SET_TEAMMATES, OBJECT_BALL) == WM->getAgentObjectType())
{
   Log.log(100, " go to backup dead ball");
// if not in position, move to position
   if (WM->getRelativeDistance(OBJECT_BALL) >= 6.0)
   {
    soc = moveToPos(getDeadBallBackUpPosition(), 5); // move to take dead ball
// if stamina low, dash slowly
    if (soc.commandType == CMD_DASH && WM->getAgentStamina().getStamina() < SS->getRecoverDecThr() * SS->getStaminaMax() + 800)
    {
     Log.log(100, " but stamina is too low");
     soc.dPower = 30.0 * WM->getAgentStamina().getRecovery();
    }
    ACT->putCommandInQueue(lookaround(soc));
   }
// else wait till kickable signal
   else
   {
    soc = turnBodyToPoint(WM->getGlobalPosition(OBJECT_BALL));
    ACT->putCommandInQueue(lookaround(soc));
   }
   WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH));
}
else
{ // if fastest to ball
   int cycles_fastest_to_ball, cycles_intercept;
   ObjectT obj_fastest_to_ball = WM->getFastestInSetTo(OBJECT_SET_TEAMMATES_NO_GOALIE, OBJECT_BALL, &cycles_fastest_to_ball);
   WM->predictCommandToInterceptBall(WM->getAgentObjectType(), interceptClose(), &cycles_intercept);
// if fastest to ball, intercept it
   if (( obj_fastest_to_ball == WM->getAgentObjectType() || cycles_intercept<=cycles_fastest_to_ball+1 )
    && !WM->isDeadBallThem() && !WM->isDeadBallUs())
   {
    Log.log(100, " fastest to ball; can get there in %d cycles", cycles_intercept);
    soc = intercept(false);
if (soc.commandType == CMD_DASH && // if stamina low
     WM->getAgentStamina().getStamina() < SS->getRecoverDecThr() * SS->getStaminaMax() + 200)
    {
     Log.log(100, " I will be slow");
     soc.dPower = 30.0 * WM->getAgentStamina().getRecovery(); // dash slow
    }
if (WM->getBallPos().getX()<40&&fabs(WM->getBallPos().getY())<20)
    {
     ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
    }
else
    {
     ACT->putCommandInQueue(lookaround(soc));
    }
    WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH));
   }

else if (WM->getAgentGlobalPosition().getDistanceTo(WM->getStrategicPosition()) > 1.5 + fabs(WM->getAgentGlobalPosition().getX() - WM->getBallPos().getX()) / 10.0 )
// if not near strategic pos
   {
if (WM->getAgentStamina().getStamina() > // if stamina high
     SS->getRecoverDecThr() * SS->getStaminaMax() + 800)
    {
     soc = moveToPos(WM->getStrategicPosition(), PS->getPlayerWhenToTurnAngle());
if(WM->isInTheirPenaltyArea(WM->getBallPos())
      soc=kickTo(WM->getPosOpponentGoal(),SS->getBallSpeedMax());
else
      soc = dribble((WM->getPosOpponentGoal()-WM->getAgentGlobalPosition()).getDirection(),DRIBBLE_FAST);
    }
else // else watch front
    {
     soc = turnBodyToPoint(WM->getStrategicPosition());
    }
if (WM->isDeadBallUs())
    {
     ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
    }
else
    {
     ACT->putCommandInQueue(lookaround(soc));
    }
    WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH));
   }
else
   {
    Log.log(100, " nothing to do but watching ball or looking around");
if (WM->isDeadBallUs())
    {
     soc = turnBodyToPoint(WM->getBallPos());
     ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
    }
else
    {
     soc = turnBodyToPoint(WM->getAgentGlobalPosition() + VecPosition(100, 0), 0);
     ACT->putCommandInQueue(lookaround(soc));
    }
    WM->setChangeViewCommand(SoccerCommand(CMD_CHANGEVIEW, VA_NARROW, VQ_HIGH));
   }
}

return soc;
}

//***************************************************************************88
double BasicPlayer::getShootProfit(VecPosition ShootPoint)
{
double value=10,dis=0,n2=0,n3=0;
int iIndex,num=0,n1=0,n4=0,nall=0;
double dis_OP[10]={0};
Line shoot_line = Line::makeLineFromTwoPoints(WM->getBallPos(),ShootPoint);
double dis_GK=shoot_line.getDistanceWithPoint(WM->predictPosAfterNrCycles(OBJECT_OPPONENT_GOALIE, 1));
double dis_GK_Ball=WM->getBallPos().getDistanceTo(WM->getGlobalPosition(OBJECT_OPPONENT_GOALIE));
if (dis_GK>4.0) n2=32.0;
else n2=8*dis_GK;
if (dis_GK_Ball>20) n3=-8;
else   n3=-0.4*dis_GK_Ball;
for (ObjectT o = WM->iterateObjectStart(iIndex, OBJECT_SET_OPPONENTS , PS->getPlayerConfThr());
o != OBJECT_ILLEGAL;
o = WM->iterateObjectNext(iIndex, OBJECT_SET_OPPONENTS , PS->getPlayerConfThr()))
if (dis=shoot_line.getDistanceWithPoint(WM->predictPosAfterNrCycles(o, 1))<3
    && !WM->getAgentGlobalPosition().isInFrontOf(o)&& o!=OBJECT_OPPONENT_GOALIE )
   {
    num++;
    n1=0;
if (dis>2) n1=n1+2;
else if (dis>1) n1=n1+1;
else n1=n1-2;
    dis_OP[num]=dis;
    nall+=n1;
   }
/*if (num==0) value=n2+n3+5;
   else {
   if (nall>=0) value=n2+n3+nall/num;
   else value=n2+n3+nall/num;
}*/
   value=n2+n3;
return value;
}
/******************************/
SoccerCommand BasicPlayer::getBestPassCmd_Attacker()
{
//return SoccerCommand(CMD_ILLEGAL);
return getBestPassCmd_Defender();
}