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Umbrella167 · May 13, 2024 · 0236f63 · 0236f63
1 parent 9897553
commit 0236f63
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Showing 2 changed files with 21 additions and 13 deletions.
diff --git a/Core/HuRocos-2024/play/NORMALPLAY.lua b/Core/HuRocos-2024/play/NORMALPLAY.lua
@@ -161,7 +161,7 @@ local UpdataTickMessage = function (our_goalie_num,defend_num1,defend_num2)
         end
         param.shootPos = shoot_pos  
     end
-
+    param.goalieTargetPos = SpecialRUNPos
     debugEngine:gui_debug_x(shoot_pos,0)
     debugEngine:gui_debug_msg(shoot_pos,"resShootPos",0)
     debugEngine:gui_debug_msg(CGeoPoint(0,3000),"ballVel:" .. ball.velMod())
@@ -233,6 +233,7 @@ firstState = "Init",
             gSubPlay.new("ShootPoint", "Nor_Shoot",{pos = function() return shoot_pos end})
             gSubPlay.new("ShowDribbling", "Nor_Dribbling",{pos = function() return shoot_pos end})
             gSubPlay.new("Defender", "Nor_Defend")
+            gSubPlay.new("Goalie", "Nor_Goalie")
         end
         return "GetGlobalMessage"
     end,
@@ -241,7 +242,7 @@ firstState = "Init",
     Special = task.stop(),
     Tier = task.stop(),
     Defender = task.stop(),
-    Goalie = task.goalie("Goalie"),
+    Goalie = gSubPlay.roleTask("Goalie", "Goalie"),
     match = "[A][KS]{TDG}"
 },
 
@@ -258,7 +259,7 @@ firstState = "Init",
     Special = task.goCmuRush(function() return SpecialRUNPos end ,closures_dir_ball("Special"),_,DSS_FLAG),
     Tier = gSubPlay.roleTask("Defender", "Tier"),
     Defender = gSubPlay.roleTask("Defender", "Defender"),
-    Goalie = task.goalie("Goalie"),
+    Goalie = gSubPlay.roleTask("Goalie", "Goalie"),
     match = "{AKSTDG}"
 },
 
@@ -279,7 +280,7 @@ firstState = "Init",
     Special = task.goCmuRush(function() return SpecialRUNPos end,closures_dir_ball("Special"),_,DSS_FLAG),
     Tier = gSubPlay.roleTask("Defender", "Tier"),
     Defender = gSubPlay.roleTask("Defender", "Defender"),
-    Goalie = task.goalie("Goalie"),
+    Goalie = gSubPlay.roleTask("Goalie", "Goalie"),
     match = "{AKSTDG}"
 },
 
@@ -300,7 +301,7 @@ firstState = "Init",
     Special = task.goCmuRush(function() return SpecialRUNPos end,closures_dir_ball("Special"),_,DSS_FLAG),
     Tier = gSubPlay.roleTask("Defender", "Tier"),
     Defender = gSubPlay.roleTask("Defender", "Defender"),
-    Goalie = task.goalie("Goalie"),
+    Goalie = gSubPlay.roleTask("Goalie", "Goalie"),
     match = "{AKSTDG}"
 },
 -- 接球
@@ -325,7 +326,7 @@ firstState = "Init",
     Special = task.goCmuRush(function() return SpecialRUNPos end,closures_dir_ball("Special"),_,DSS_FLAG),
     Tier = gSubPlay.roleTask("Defender", "Tier"),
     Defender = gSubPlay.roleTask("Defender", "Defender"),
-    Goalie = task.goalie("Goalie"),
+    Goalie = gSubPlay.roleTask("Goalie", "Goalie"),
     match = "[A][KS]{TDG}"
 },
 
@@ -347,7 +348,7 @@ firstState = "Init",
     Special = task.goCmuRush(function() return SpecialRUNPos end,closures_dir_ball("Special"),_,DSS_FLAG),
     Tier = gSubPlay.roleTask("Defender", "Tier"),
     Defender = gSubPlay.roleTask("Defender", "Defender"),
-    Goalie = task.goalie("Goalie"),
+    Goalie = gSubPlay.roleTask("Goalie", "Goalie"),
     match = "{AKSTDG}"
 },
 -- 防守 盯防
@@ -363,7 +364,7 @@ firstState = "Init",
     Special = function() return task.defender_marking("Special",function() return SpecialRUNPos end) end ,--task.goCmuRush(function() return SpecialRUNPos end,closures_dir_ball("Special"),_,DSS_FLAG),--
     Tier = gSubPlay.roleTask("Defender", "Tier"),
     Defender = gSubPlay.roleTask("Defender", "Defender"),
-    Goalie = task.goalie("Goalie"),
+    Goalie = gSubPlay.roleTask("Goalie", "Goalie"),
     match = "[A][KS]{TDG}"
 },
 name = "NORMALPLAY",

diff --git a/ZBin/lua_scripts/worldmodel/task.lua b/ZBin/lua_scripts/worldmodel/task.lua
@@ -901,7 +901,10 @@ function goalie_getBall(role)
 		-- goaliePoint = ballPos + Utils.Polar2Vector(param.playerRadius, ballToRoleDir) + Utils.Polar2Vector(50, playerToStablePointDir)
 		a = param.goalieDribblingA
 		goaliePoint = param.goalieStablePoint
-		idir = (param.goalieTargetPos - rolePos):dir()
+		local fungoalieTargetPos = function()
+			return param.goalieTargetPos
+		end
+		idir = (fungoalieTargetPos() - rolePos):dir()
 	elseif player.myinfraredCount(role) > param.goalieDribblingFrame then
 		-- 一般这个状态就跳到kick去了
 		-- goaliePoint = ballPos + Utils.Polar2Vector(param.playerRadius, ballToRoleDir)
@@ -915,15 +918,18 @@ function goalie_getBall(role)
 end
 
 function goalie_kick(role)
+	local fungoalieTargetPos = function()
+		return param.goalieTargetPos
+	end
 	local rolePos = CGeoPoint:new_local(player.rawPos(role):x(), player.rawPos(role):y())
 	local ballPos = ball.pos()
 	local getBallPos = Utils.GetBestInterPos(vision, rolePos, param.playerVel, 1, 1,param.V_DECAY_RATE)
 	local roleToBallTargetDir = math.abs((ballPos - rolePos):dir())
-	local ballToTargetDir = math.abs((param.goalieTargetPos - ballPos):dir())
+	local ballToTargetDir = math.abs((fungoalieTargetPos() - ballPos):dir())
 
-	local kp = 1
+	local kp = 9999
 	local idir = function(runner)
-		return (param.goalieTargetPos - rolePos):dir()
+		return (fungoalieTargetPos() - rolePos):dir()
 	end
 
 	local goaliePoint = CGeoPoint:new_local(getBallPos:x(), getBallPos:y()) + Utils.Polar2Vector(-param.playerRadius+10, ballToTargetDir)
@@ -939,7 +945,8 @@ function goalie_kick(role)
 
 	local mexe, mpos = GoCmuRush { pos = goaliePoint, dir = idir, acc = a, flag = iflag, rec = r, vel = v }
 	-- return { mexe, mpos, kick.chip, idir, pre.low, power(param.goalieTargetPos, kp), power(param.goalieTargetPos, kp), 0x00000000 }
-	return { mexe, mpos, param.goalieShootMode, idir, pre.low, power(param.goalieTargetPos, kp,player.num(role)), power(param.goalieTargetPos, kp,player.num(role)), 0x00000000 }
+	-- return { mexe, mpos, param.goalieShootMode, idir, pre.low, power(fungoalieTargetPos(), kp,player.num(role)), power(fungoalieTargetPos(), kp,player.num(role)), 0x00000000 }
+		return { mexe, mpos, param.goalieShootMode, idir, pre.low, cp.specified(8000), cp.specified(8000), 0x00000000 }
 end