penalty

Core/HuRocos-2024/play/NORMALPLAY.lua

@@ -212,7 +212,6 @@ end
 local subScript = false
 
 return {
-
     __init__ = function(name, args)
         print("in __init__ func : ",name, args)
     end,
@@ -226,13 +225,16 @@ firstState = "Init",
             gSubPlay.new("Goalie", "Nor_Goalie")
         end
         return "GetGlobalMessage"
+
+        -- UpdataTickMessage(our_goalie_num,defend_num1,defend_num2)    -- 更新帧信息
+        -- local State = getState()
     end,
     Assister = task.stop(),
     Kicker = task.stop(),
     Special = task.stop(),
     Tier = task.stop(),
     Defender = task.stop(),
-    Goalie = gSubPlay.roleTask("Goalie", "Goalie"),
+    Goalie = task.stop(),
     match = "[AKS]{TDG}"
 },
 

Core/HuRocos-2024/play/NORMALPLAYV2.lua

@@ -204,13 +204,13 @@ local getState = function ()
         end
 
 
-        param.dribblingExclusionDist = 120
+        param.dribblingExclusionDist = 130
         if Utils.isValidPass(vision,ball.pos(),param.shootPos,130) then
             param.dribblingExclusionDist = 0
         else
             param.dribblingExclusionDist = 120
         end
-        if Utils.InExclusionZone(ball.pos(), param.dribblingExclusionDist, "all") and resultState ~=  "ShootPoint" then
+        if Utils.InExclusionZone(ball.pos(), param.dribblingExclusionDist, "all") and resultState ~= "ShootPoint" then
             resultState =  "dribbling"
         end
         debugEngine:gui_debug_msg(CGeoPoint(0,param.pitchWidth / 2 - (1000 + param.debugSize)),"NextState:" .. resultState,3,0,param.debugSize)

Core/HuRocos-2024/play/Nor_DefendV2.lua

@@ -12,7 +12,7 @@ return {
         end,
         Breaker = function() return task.defend_normV2("Tier", 0, param.defenderMode) end,
         Fronter = function() return task.defend_normV2("Defender", 1, param.defenderMode) end,
-        match = "[BF]"
+        match = "{BF}"
     },
     ["defend_front"] = {
         switch = function()

Core/HuRocos-2024/play/Nor_Shoot.lua

@@ -63,8 +63,8 @@ firstState = "Init",
 		local toballDir = (param.shootPos - ball.pos()):dir()
 		local playerDir = player.dir("Assister")
 		local subDir = math.abs(Utils.angleDiff(toballDir,playerDir) * 180/math.pi)
-		local drbblingRate = math.ceil((7 * Utils.NumberNormalize(subDir,120,30)))
-		if(player.myinfraredCount("Assister") > 15 + drbblingRate) then
+		local drbblingRate = math.ceil((0 * Utils.NumberNormalize(subDir,120,30)))
+		if(player.myinfraredCount("Assister") > 5 + drbblingRate) then
 			return "turnToPoint"
 		end
 		local Vy = player.rotVel("Assister")
@@ -102,7 +102,7 @@ firstState = "Init",
 		end
 
 	end,
-	Assister = function() return task.TurnToPointV2("Assister", function() return resShootPos end,param.rotVel) end,
+	Assister = function() return task.TurnToPointV2("Assister", function() return resShootPos end,param.rotVel()) end,
 	match = "{A}"
 },
 
@@ -118,7 +118,7 @@ firstState = "Init",
 			return "getball"
 		end
 	end,
-	Assister = task.ShootdotV2(function() return resShootPos end, param.shootError, kick.flat),
+	Assister = task.ShootdotV2(function() return resShootPos end, param.shootError, kick.flat ),
 	match = "{A}"
 },
 

Core/HuRocos-2024/play/our_BallPlacement.lua

@@ -157,7 +157,8 @@ firstState = "start",
         count = 0
     end
     if count > 60 then
-        return "avoid"
+        count = 0
+        return "getball1"
     end
   end,
   Assister = task.getBall_BallPlacement("Assister"),
@@ -168,7 +169,29 @@ firstState = "start",
   Goalie = task.goCmuRush(avoidPlacementPos("Goalie"),function() return player.toBallDir("Goalie") end,_,DSS_FLAG),
   match = "(AKS){TDG}"
 },
-
+["getball1"] = {
+    switch = function()
+
+      debugEngine:gui_debug_msg(CGeoPoint(0,2800),"ballRights: " .. GlobalMessage.Tick().ball.rights,2)
+      debugEngine:gui_debug_msg(CGeoPoint(0,2600),"InfraredCount: " .. player.myinfraredCount("Assister"),3)
+      if ball.pos():dist(ball.placementPos()) < 130 then
+          count = count + 1
+      else
+          count = 0
+      end
+      if count > 100 then
+            count = 0
+          return "avoid"
+      end
+    end,
+    Assister = task.stop(),
+    Kicker   = task.goCmuRush(avoidPlacementPos("Kicker",waitPosKicker()),function() return player.toBallDir("Kicker") end,_,DSS_FLAG),
+    Special  = task.goCmuRush(avoidPlacementPos("Special",waitPosSpecial()),function() return player.toBallDir("Special") end,_,DSS_FLAG),
+    Tier = task.goCmuRush(avoidPlacementPos("Tier"),function() return player.toBallDir("Tier") end,_,DSS_FLAG),
+    Defender = task.goCmuRush(avoidPlacementPos("Defender"),function() return player.toBallDir("Defender") end,_,DSS_FLAG),
+    Goalie = task.goCmuRush(avoidPlacementPos("Goalie"),function() return player.toBallDir("Goalie") end,_,DSS_FLAG),
+    match = "(AKS){TDG}"
+  },
 ["avoid"] = {
   switch = function()
 

Core/HuRocos-2024/play/our_CornerKick.lua

@@ -71,15 +71,15 @@ firstState = "start",
     if(player.kickBall("Assister") )then
         if(player.canTouch(pass_pos, shootPosKicker__, param.canTouchAngle) and 
           Utils.isValidPass(vision,CGeoPoint(ball.posX(),ball.posY()),pass_pos,param.enemy_buffer)) then
-            return "KickerTouch"
+            return "exit"
         elseif Utils.isValidPass(vision,CGeoPoint(ball.posX(),ball.posY()),pass_pos,param.enemy_buffer) then
             return "KickerGetball"
         else
             return "exit"
         end
     end
   end,
-  Assister = task.Shootdot("Assister",function() return pass_pos end,param.shootError + 5,kick.flat),
+  Assister = task.Shootdot("Assister",function() return pass_pos end,param.shootError + 5,kick.chip),
   Kicker   = task.goCmuRush(function() return param.KickerWaitPlacementPos() end,toBallDir("Kicker")),
   Special  = task.goCmuRush(function() return param.SpecialWaitPlacementPos() end,toBallDir("Special")),
   Tier = task.stop(),

Core/HuRocos-2024/play/our_Penalty.lua

@@ -4,8 +4,10 @@ local p2 = CGeoPoint(- param.pitchLength / 2 + 300,param.pitchWidth / 2 - 600)
 local p3 = CGeoPoint(- param.pitchLength / 2 + 300, -param.pitchWidth / 2 + 300)
 local p4 = CGeoPoint(- param.pitchLength / 2 + 300,-param.pitchWidth / 2 + 600)
 local p5 = CGeoPoint(- param.pitchLength / 2 , 0)
-local canShoot = function(role,shootThreshold)
-	if ball.posX() > shootThreshold then
+local shootThreshold = 3000
+
+local canShoot = function(role,ishootThreshold)
+	if ball.posX() > ishootThreshold then
 		return true
 	else
 		return false
@@ -24,52 +26,47 @@ local theirGoalie = function()
 end
 local shoot_flag = 1
 local shootFlag = function(role)
-	if player.pos(role):dist(enemy.pos(theirGoalie())) < 500 then
+	if player.pos(role):dist(enemy.pos(theirGoalie())) < 800 then
 		return kick.chip()
 	else
 		return kick.flat()
 	end
 end
 
-local Power = function(role,shoot_flag,shootThreshold)
+local Power = function(role,shoot_flag,ishootThreshold)
 	local ipower = 100
 	local ishoot_falg
 	if type(shoot_flag) == 'function' then
 		ishoot_falg = shoot_flag()
 	else
 		ishoot_falg = shoot_flag
 	end
-	local realRate = 15
-	if param.isReality then
-		realRate = 1
-	end
-	if ball.posX() > shootThreshold then
+	if ball.posX() > ishootThreshold then
 		if (ishoot_falg == kick.flat()) then
-			ipower = 310 * realRate
+			ipower = 310 
 		else
-			ipower = 500 * realRate
+			ipower = 500 
 		end 
 	else
 		if (ishoot_falg == kick.flat()) then
-			ipower = 110 * realRate
+			ipower = 110
 		else
-			ipower = 300 * realRate
+			ipower = 300
 		end 
 	end
 end
 
-local match_pos = function(role)
-	return function()
-		return 
-	end
-end 
 --射门阈值
-local shootThreshold = 3000
-gPlayTable.CreatePlay{
+return {
+
+    __init__ = function(name, args)
+        print("in __init__ func : ",name, args)
+    end,
 firstState = "Init1",
 
 ["Init1"] = {
 	switch = function()
+		gSubPlay.new("ShootPoint", "Nor_Shoot",{pos = function() return shoot_pos end})
 		return "Init"
 	end,
 	Assister = task.goCmuRush(function() return player.pos(param.LeaderNum) end, player.toBallDir("Assister"), a, DSS_FLAG),
@@ -82,9 +79,9 @@ firstState = "Init1",
 },
 
 
-
 ["Init"] = {
 	switch = function()
+		param.shootPos = Utils.GetShootPoint(vision,player.num("Assister"))
 		debugEngine:gui_debug_msg(CGeoPoint(0,0),ball.posX())
 		if cond.isNormalStart() then
 			return "getball"
@@ -101,17 +98,25 @@ firstState = "Init1",
 
 ["getball"] = {
 	switch = function()
+		param.shootPos = Utils.GetShootPoint(vision,player.num("Assister"))
+
 		debugEngine:gui_debug_msg(CGeoPoint(0,0),ball.posX())
-		if player.myinfraredCount("Assister") > 15 and (not canShoot("Assister",shootThreshold)) then
-			return "shoot_dribbling"
+		if player.myinfraredCount("Assister") > 15 then
+			if canShoot("Assister",shootThreshold) then
+				return "shoot_point"
+			else
+				return "shoot_dribbling"
+			end
 		end
 	end,
-	Assister = task.getball(function() return shoot_pos end,playerVel,getballMode),
+	Assister = task.getball_dribbling("Assister"),
     match = "{A}"
 },
 
 ["shoot_dribbling"] = {
 	switch = function()
+		param.shootPos = Utils.GetShootPoint(vision,player.num("Assister"))
+
 		shoot_flag = shootFlag("Assister")
 		if(bufcnt(player.myinfraredCount("Assister") < 1,1)) then
 			return "getball"
@@ -120,6 +125,18 @@ firstState = "Init1",
 	Assister = task.ShootdotDribbling(param.shootError,function() return shoot_flag end,Power("Assister",function() return shoot_flag end,shootThreshold)),
     match = "{A}"
 },
+
+["shoot_point"] = {
+	switch = function()
+		param.shootPos = Utils.GetShootPoint(vision,player.num("Assister"))
+		shoot_flag = shootFlag("Assister")
+		if(bufcnt(player.myinfraredCount("Assister") < 1,1)) then
+			return "getball"
+		end
+	end,
+	Assister = gSubPlay.roleTask("ShootPoint", "Assister"),
+    match = "{A}"
+},
 name = "our_Penalty",
 applicable ={
 	exp = "a",

Core/src/Utils/utils.cpp

@@ -24,9 +24,9 @@ GlobalTick Tick[PARAM::Tick::TickLength];
 int now = PARAM::Tick::TickLength - 1;
 int last = PARAM::Tick::TickLength - 2;
 CGeoPoint lastMovePoint = CGeoPoint(inf, inf);
-double playerInfraredCountBuffer = 105;// 红外判断缓冲值
+double playerInfraredCountBuffer = 100;// 红外判断缓冲值
 double playerBallRightsBuffer = 110;// 球权判断缓冲值
-double pass_threshold = 0.18; //射门阈值
+double pass_threshold = 0.1; //射门阈值
 namespace Utils
 {
     // 没写完 START
@@ -96,8 +96,8 @@ namespace Utils
             {
 
                 Tick[now].task[i].player_num = i;
-                if (i != Tick[now].our.dribbling_num)
-                    Tick[now].task[i].infrared_count = 0;
+//                if (i != Tick[now].our.dribbling_num)
+//                    Tick[now].task[i].infrared_count = 0;
                 if (Tick[now].task[i].infrared_count == 0 )
                     Tick[now].task[i].infrared_off_count += 1;
 
@@ -214,7 +214,7 @@ namespace Utils
 
         // 获取第一次带球的位置
         // 如果远离球一定距离就一直更新
-        if (our_min_dist > playerBallRightsBuffer + 25)
+        if (our_min_dist > 150)
         {
             Tick[now].ball.first_dribbling_pos = Tick[now].ball.pos;
         }

Core/tactics/skill/Getball.lua

@@ -55,16 +55,38 @@ function Getball(task)
 		else
 			print("Error runner in getball", runner)
 		end
-		local playerEndVel = {
+
+		local playerEndVelONE = {
 			-- [num] = {endVel, ballVelRate} 
 			[-1] = {0,1}, -- Other
 			[0] = {0,1},
 			[1] = {0,1},
-			[2] = {0,50},
+			[2] = {0,1},
+			[3] = {0,1},
+			[4] = {0,1},	
+			[5] = {0,1},
+			[6] = {200,1},
+			[7] = {0,1},
+			[8] = {0,1},
+			[9] = {0,1},
+			[10] = {0,1},
+			[11] = {0,50},
+			[12] = {0,1},
+			[13] = {0,1},
+			[14] = {0,1},
+			[15] = {0,1},
+			[16] = {0,1}, -- Other
+		}
+		local playerEndVelTWO = {
+			-- [num] = {endVel, ballVelRate} 
+			[-1] = {0,1}, -- Other
+			[0] = {0,1},
+			[1] = {100,1},
+			[2] = {0,1},
 			[3] = {0,1},
 			[4] = {0,1},	
 			[5] = {0,1},
-			[6] = {0,1},
+			[6] = {200,1.2},
 			[7] = {0,1},
 			[8] = {0,1},
 			[9] = {0,1},
@@ -76,6 +98,7 @@ function Getball(task)
 			[15] = {0,1},
 			[16] = {0,1}, -- Other
 		}
+		local playerEndVel = (param.Team == "ONE") and playerEndVelONE or playerEndVelTWO
 		--获取常用数据
 		local endVelMod = 0
 		local playerPos = CGeoPoint:new_local(player.pos(runner):x(),player.pos(runner):y()) 
@@ -130,7 +153,7 @@ function Getball(task)
 			end
 			debugError = debugError .."  RushToBall "
 			endVelMod = (ball.velMod() * playerEndVel[runner][2]) + playerEndVel[runner][1]
-			endVelMod = endVelMod > 300 and 300 or endVelMod
+			endVelMod = endVelMod > 5000 and 5000 or endVelMod
 		end