MLscripts/STPGame2by2FirstCom.m at master · robocup-ssl-russia/MLscripts · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
function [frul, srul] = STPGame2by2FirstCom(ball, BPosHX, BPosHY, ballFastMoving, ballSaveDir, own, opp, ownG, oppG, ownV, oppV, ballInside)
    frul = Crul(0, 0, 0, 0, 0);
    srul = Crul(0, 0, 0, 0, 0);
    [ownerCmd, ownerId] = getBallOwner(ballFastMoving, ballSaveDir, ball, own, opp, ownG, oppG);

    switch ownerCmd
        case 1
            [frul, srul] = attackGame(ownerId, ballFastMoving, ball, own, opp, ownG, oppG, ownV, oppV, ballInside);
        case 2
            [frul, srul] = defenceGame(ownerId, ballFastMoving, BPosHX, BPosHY, ball, own, opp, ownG, oppG, ownV, oppV, ballInside);
        case -1
            [frul, srul] = neutralGame(ball, own, opp, ownG, oppG, ownV, oppV, ballInside);
    end
end

function [frul, srul] = attackGame(ownerId, ballFastMoving, ball, own, opp, ownG, oppG, ownV, oppV, ballInside)
    frul = GoalKeeperOnLine(own(1), ball, ownG, ownV);
    srul = Crul(0, 0, 0, 0, 0);

    if (ownerId == 2)
        if ~ballFastMoving
            srul = optDirGoalAttack(own(2), ball, opp, oppG, oppV, ballInside);
        end
    else
        if ~ballFastMoving
            minSpeed = 15;
            P = 4/750;
            D = -1.5;
            vicinity = 50;
            frul = attackDistCrit(own(1), ball, (ownG + oppG) / 2, ballInside);
            srul = MoveToPD(own(2), (ownG + oppG) / 2, minSpeed, P, D, vicinity);
        else
            srul = attack(own(1), ball, (ownG + oppG) / 2, ballInside);
        end
    end
end

function [frul, srul] = defenceGame(ownerId, ballFastMoving, BPosHX, BPosHY, ball, own, opp, ownG, oppG, ownV, oppV, ballInside)
    frul = GoalKeeperOnLine(own(1), ball, ownG, ownV);
    if ~ballFastMoving
        srul = defenceGoalFor2by2(own(2), opp(2), ownG);
    else
        srul = receiveBall(own(2), BPosHX, BPosHY);
    end
end

function [frul, srul] = neutralGame(ball, own, opp, ownG, oppG, ownV, oppV, ballInside)
    frul = GoalKeeperOnLine(own(1), ball, ownG, ownV);
    srul = optDirGoalAttack(own(2), ball, opp, oppG, oppV, ballInside);
end

function [cmd, id] = getBallOwner(ballFastMoving, ballSaveDir, ball, own, opp, ownG, oppG)
    persistent prevOwnerCmd;
    persistent prevOwnerId;

    if (isempty(prevOwnerId) || isempty(prevOwnerCmd))
        %ïðåäûäóùèé âëàäåëåö íå îïðåäåë¸í
        prevOwnerCmd = -1;
        prevOwnerId = -1;
    end

    if ballFastMoving
        [cmd, id] = getOwnerWhenBallFast(ballSaveDir, prevOwnerCmd, prevOwnerId);
    else
        [cmd, id] = getOwnerWhenBallSlow(ball, own, opp, ownG, oppG);
    end

    prevOwnerCmd = cmd;
    prevOwnerId = id;
end

function res = checkBadBallZone(ball)
    lX = -300;
    rX = 300;
    res = lX <= ball.x && ball.x <= rX;
end

function [cmd, id] = getOwnerWhenBallFast(ballSaveDir, prevOwnerCmd, prevOwnerId)
    %åñëè ìÿ÷ ïðè áûñòðîì äâèæåíèè ñîõðàíÿåò íàïðàâëåíèå, òî âëàäåëüöåì
    %ñ÷èòàåì ðîáîòà êîòîðûé âëàäåë ìÿ÷îì ðàíüøå, èíà÷å âëåäåö íå
    %îïðåäåë¸í
    if (ballSaveDir)
        cmd = prevOwnerCmd;
        id = prevOwnerId;
    else
        cmd = -1;
        id = -1;
    end
        %{
    elseif prevOwnerCmd == -1
        cmd = -1;
        id = -1;
    else
        %äèñòàíöèÿ íåîáõîäèìàÿ äëÿ òîãî, ÷òîáû ïðè îòë¸òå ìÿ÷à
        %óñòàíîâèëîñü íàïðàâëåíèå
        ownerDist = 500;
        if prevOwnerCmd == 1 && r_dist_points(own(prevOwnerId).z, ball.z) < ownerDist || prevOwnerCmd == 2 && r_dist_points(opp(prevOwnerId).z, ball.z) < ownerDist
            cmd = prevOwnerCmd;
            id = prevOwnerId;
        else
            cmd = -1;
            id = -1;
        end
    end
        %}
end

function [cmd, id] = getOwnerWhenBallSlow(ball, own, opp, ownG, oppG)
    %ðàçíèöà ìåæäó ðàññòîÿíèÿìè äî ìÿ÷à íåîáõîäèìàÿ äëÿ îïðåäåëåíèÿ
    %âëàäåëüöà
    distMinDiff = 200;
    %ðàçìåð îêðåñòíîñòè ìÿ÷à (çîíû âëàäåíèÿ) óäîáíîé äëÿ ìàíèïóëÿöèé ñ íèì
    ballOwnerArea = 300;

    %ïðîâåðêà íà âðàòàðñêèå çîíû
    if checkGoalKeeperZone(ball, ownG)
        cmd = 1;
        id = 1;
    elseif checkGoalKeeperZone(ball, oppG)
        cmd = 2;
        id = 1;
    else
        [fDist, fOwner] = calcBallCmdDist(ball, own);
        [sDist, sOwner] = calcBallCmdDist(ball, opp);
        if fDist < ballOwnerArea && sDist < ballOwnerArea
            %åñëè â çîíå âëàäåíèÿ ìÿ÷à åñòü ðîáîòû èç ðàçíûõ êîìàíä òî
            %âëàäåëåö íå îïðåäåë¸í
            cmd = -1;
            id = -1;
        %èíà÷å ïðîâåðÿåì îáå êîìàíäû ïî îòäåëüíîñòè
        elseif fDist < ballOwnerArea
            cmd = 1;
            id = fOwner;
        elseif sDist < ballOwnerArea
            cmd = 2;
            id = sOwner;
        elseif abs(fDist - sDist) < distMinDiff
            %åñëè ðàññòîÿíèå äî ìÿ÷à êîìàíä îòëè÷àþòñÿ íå çíà÷èòåëüíî òî
            %âëåäåëåö íå îïðåäåë¸í
            cmd = -1;
            id = -1;
            %èíà÷å ïðîâåðÿåì êàêàÿ êîìàíäà áëèæå
        elseif fDist < sDist
            cmd = 1;
            id = fOwner;
        else
            cmd = 2;
            id = sOwner;
        end
    end
end

function res = checkGoalKeeperZone(ball, G)
    goalKeeperArea = 900;
    res = r_dist_points(ball.z, G) < goalKeeperArea;
end

function [dist, id] = calcBallCmdDist(ball, cmd)
    dist = r_dist_points(ball.z, cmd(1).z);
    id = 1;
    for k = 2: numel(cmd)
        curDist = r_dist_points(ball.z, cmd(k).z);
        if (curDist <= dist)
            dist = curDist;
            id = k;
        end
    end
end