From 33fc804ff2a05ebe2c4d2131b2a6fdabb2f0d096 Mon Sep 17 00:00:00 2001 From: Umbrella167 <1670187757@qq.com> Date: Tue, 16 Apr 2024 13:01:29 +0800 Subject: [PATCH] Over newNormalPlay --- Core/src/LuaModule/utils.pkg | 2 +- Core/src/Utils/utils.cpp | 10 +- Core/src/Utils/utils.h | 2 +- Core/tactics/play/newNormalPlay.lua | 165 ++++++++++---------------- ZBin/lua_scripts/worldmodel/param.lua | 2 +- ZBin/lua_scripts/worldmodel/task.lua | 9 +- 6 files changed, 75 insertions(+), 115 deletions(-) diff --git a/Core/src/LuaModule/utils.pkg b/Core/src/LuaModule/utils.pkg index 9ee810b..28a3f1f 100644 --- a/Core/src/LuaModule/utils.pkg +++ b/Core/src/LuaModule/utils.pkg @@ -21,7 +21,7 @@ namespace Utils{ bool InOurField(CGeoPoint Point); int getInitData(const CVisionModule *pVision, int flag=1); - + CGeoPoint PosGetShootPoint(const CVisionModule *pVision, double x, double y); CGeoPoint GetShootPoint(const CVisionModule *pVision, int num); std::string GlobalStatus(const CVisionModule *pVision,int attack_flag); //CGeoPoint GetInterPos(const CVisionModule *pVision, CGeoPoint player_pos,double velocity); diff --git a/Core/src/Utils/utils.cpp b/Core/src/Utils/utils.cpp index 8d1562c..ef8012c 100644 --- a/Core/src/Utils/utils.cpp +++ b/Core/src/Utils/utils.cpp @@ -799,7 +799,7 @@ namespace Utils double their_min_dist = inf; double their_min_num = 0; // 获取射门点 - CGeoPoint shoot_pos = GetShootPoint(pVision, player_pos.x(), player_pos.y()); + CGeoPoint shoot_pos = PosGetShootPoint(pVision, player_pos.x(), player_pos.y()); grade_shoot = Tick[now].globalData.confidence_shoot; // 如果算不到射门点直接返回 0 if (shoot_pos.y() == -inf || player_pos.x() > 4000) @@ -885,7 +885,7 @@ namespace Utils pass_safty_grade = PosSafetyGrade(pVision, player_pos, CGeoPoint(x, y)); pass_grade = 0.5 * pass_dir_grade + 0.5 * pass_dist_grade; - grade = 0.2 * pass_grade + 0.5 * shoot_grade + 0.3 * pass_safty_grade; + grade = 0.2 * pass_grade + 0.15 * pass_safty_grade + 0.15 * shoot_dir_grade + 0.5 * shoot_dist_grade;; return grade; } double GetTouchGrade(const CVisionModule *pVision, double x, double y, CGeoPoint player_pos, CGeoPoint shoot_pos) @@ -932,7 +932,7 @@ namespace Utils { double touch_dir_grade = 0; CGeoPoint now_pos = CGeoPoint(x, y); - CGeoPoint shoot_pos = GetShootPoint(pVision, x, y); + CGeoPoint shoot_pos = PosGetShootPoint(pVision, x, y); if (shoot_pos.y() == -inf || InExclusionZone(now_pos) || !isValidPass(pVision, now_pos, player_pos)) continue; @@ -1006,7 +1006,7 @@ namespace Utils { CGeoPoint pos(x, y); - CGeoPoint shoot_pos = GetShootPoint(pVision, x, y); + CGeoPoint shoot_pos = PosGetShootPoint(pVision, x, y); // 如果 无有效射门点 或 点位在禁区 或 传球路径被挡住 或 射门路径被挡住 跳过该点 if (!InField(pos) || shoot_pos.y() == -inf || InExclusionZone(pos) || (!isValidPass(pVision, dribbling_player_pos, CGeoPoint(x, y), PARAM::Player::playerBuffer)) || !isValidPass(pVision, pos, shoot_pos, PARAM::Player::playerBuffer)) continue; @@ -1103,7 +1103,7 @@ namespace Utils * @param {std::string} model : FORMULA：仅根据守门员位置进行计算，TRAVERSE：遍历整个可射门点（默认：TRAVERSE） * @return {CGeoPoint} : (x,y)关于最佳射门点的评分 */ - CGeoPoint GetShootPoint(const CVisionModule *pVision, double x, double y) + CGeoPoint PosGetShootPoint(const CVisionModule *pVision, double x, double y) { double pos_to_pos_dist_grade = 0; double pos_to_pos_dir_grade = 0; diff --git a/Core/src/Utils/utils.h b/Core/src/Utils/utils.h index da9bcbe..8f0c44a 100644 --- a/Core/src/Utils/utils.h +++ b/Core/src/Utils/utils.h @@ -50,7 +50,7 @@ namespace Utils extern double ShowDribblingGrade(const CVisionModule *pVision,CGeoPoint run_pos,CGeoPoint player_pos,CGeoPoint target_pos); extern CGeoPoint GetShowDribblingPos(const CVisionModule *pVision,CGeoPoint player_pos,CGeoPoint target_pos); - extern CGeoPoint GetShootPoint(const CVisionModule *pVision, double x, double y); // 获取某坐标而言对方守门员的空位 + extern CGeoPoint PosGetShootPoint(const CVisionModule *pVision, double x, double y); // 获取某坐标而言对方守门员的空位 extern CGeoPoint GetShootPoint(const CVisionModule *pVision, int num); // 获取某坐标而言对方守门员的空位 + 持球员朝向 extern double GetAttackGrade(const CVisionModule *pVision, double x, double y, CGeoPoint player_pos, CGeoPoint shoot_pos); // 计算某坐标点的跑位分 extern CGeoPoint GetAttackPos(const CVisionModule *pVision, int num); // 计算已某玩家为圆心，半径，范围圆内 最佳跑位点 diff --git a/Core/tactics/play/newNormalPlay.lua b/Core/tactics/play/newNormalPlay.lua index 4cb3b27..77b1f60 100644 --- a/Core/tactics/play/newNormalPlay.lua +++ b/Core/tactics/play/newNormalPlay.lua @@ -1,6 +1,4 @@ local DSS_FLAG = bit:_or(flag.allow_dss, flag.dodge_ball) - - local playerPos = function(role) return function() return CGeoPoint:new_local(player.posX(role),player.posY(role)) @@ -12,44 +10,22 @@ local closures_dir = function(pos1,pos2) return (pos2 - pos1):dir() end end - local closures_dir_ball = function(role) return function() return player.toBallDir(role) end end - local ballPos = function() return function() return CGeoPoint:new_local(ball.pos():x(),ball.pos():y()) end end - -local function runPos(role,touch_pos_flag) - return function() - local touch_pos_flag = touch_pos_flag or false - for num,i in pairs(GlobalMessage.attackPlayerRunPos) do - -- debugEngine:gui_debug_msg(CGeoPoint:new_local(-2000,-500 * num),i.num) - if player.num(role) == i.num then - if (touch_pos_flag == true and touchPos:x() ~= 0 and touchPos:y() ~= 0) then - return CGeoPoint:new_local(touchPos:x(),touchPos:y()) - else - -- debugEngine:gui_debug_msg(CGeoPoint:new_local(-2000,-2000),i.pos:x().." ".. i.pos:y()) - return CGeoPoint:new_local(i.pos:x(),i.pos:y()) - end - end - end - return CGeoPoint:new_local(0,0) - end -end - -- 带球车初始化 dribbling_player_num = 1 -- 球权初始化 ballRights = -1 -- 射门坐标初始化 local shoot_pos = CGeoPoint:new_local(4500,0) - -- 守门员号码 local our_goalie_num = param.our_goalie_num -- 后卫号码 @@ -60,19 +36,20 @@ local pass_pos = CGeoPoint:new_local(4500,-999) -- getball参数 local playerVel = param.playerVel local getballMode = param.getballMode - -- 带球速度 -dribblingVel = 2500 +local dribblingVel = 2500 -- dribblingPos 带球目标坐标 -dribbling_target_pos = CGeoPoint:new_local(0,0) -show_dribbling_pos = CGeoPoint:new_local(0,0) +local dribbling_target_pos = CGeoPoint:new_local(0,0) +local show_dribbling_pos = CGeoPoint:new_local(0,0) + +local KickerRUNPos = CGeoPoint:new_local(0,0) +local SpecialRUNPos = CGeoPoint:new_local(0,0) local canShoot = function(pos1,pos2) local pos_1 = CGeoPoint(pos1:x(),pos1:y()) local pos_2 = CGeoPoint(pos2:x(),pos2:y()) - return Utils.isValidPass(vision,pos_1,pos_2,para.enemy_buffer) + return Utils.isValidPass(vision,pos_1,pos_2,param.enemy_buffer) end - local ShowDribblingPos = function () return function() return CGeoPoint:new_local(show_dribbling_pos:x(),show_dribbling_pos:y()) @@ -103,7 +80,8 @@ local debugStatus = function() tostring(i.status),3) end end --- 此脚本的全局更新 + +local runCount = 0 local UpdataTickMessage = function (our_goalie_num,defend_num1,defend_num2) -- 获取 Tick 信息 GlobalMessage.Tick = Utils.UpdataTickMessage(vision,our_goalie_num,defend_num1,defend_num2) @@ -124,8 +102,28 @@ local UpdataTickMessage = function (our_goalie_num,defend_num1,defend_num2) dribblingStatus = status.getPlayerStatus(dribbling_player_num) -- 获取带球机器人状态 shoot_pos = dribblingStatus == "Shoot" and shoot_pos or pass_pos param.shootPos = shoot_pos - status.getPlayerRunPos() -- 获取跑位点 - touchPos = Utils.GetTouchPos(vision,CGeoPoint:new_local(player.posX(dribbling_player_num),player.posY(dribbling_player_num)),canTouchAngle) + end + + + runCount = runCount + 1 + if runCount > 30 then + local KickerShootPos = Utils.PosGetShootPoint(vision, player.posX("Kicker"),player.posY("Kicker")) + local SpecialShootPos = Utils.PosGetShootPoint(vision,player.posX("Special"),player.posY("Special")) + + if ball.posX() > -1000 then + KickerRUNPos = Utils.GetAttackPos(vision, player.num("Kicker"),KickerShootPos,CGeoPoint(1200,-2400),CGeoPoint(4200,0),300); + SpecialRUNPos = Utils.GetAttackPos(vision, player.num("Special"),SpecialShootPos,CGeoPoint(1200,2400),CGeoPoint(4200,0),300); + else + KickerRUNPos = Utils.GetAttackPos(vision, player.num("Kicker"),KickerShootPos,CGeoPoint(-500,2400),CGeoPoint(2200,0),300); + SpecialRUNPos = Utils.GetAttackPos(vision, player.num("Special"),SpecialShootPos,CGeoPoint(-1900,0),CGeoPoint(1000,-2800),300); + end + -- if(canShoot(ball.pos(),player.pos("Kicker")) and canShoot(ball.pos(),KickerShootPos)) then + -- KickerRUNPos = player.pos("Kicker") + -- end + -- if(canShoot(ball.pos(),player.pos("Special")) and canShoot(ball.pos(),SpecialShootPos) ) then + -- SpecialRUNPos = player.pos("Special") + -- end + runCount = 0 end debugEngine:gui_debug_msg(CGeoPoint(0,3000),"ballVel:" .. ball.velMod()) debugEngine:gui_debug_msg(CGeoPoint(0,2800),"InfraredCount:" .. player.infraredCount("Assister")) @@ -165,22 +163,29 @@ local getState = function () debugEngine:gui_debug_msg(CGeoPoint(0,2000),"NextState:" .. resultState,3) return resultState end + +-- 解决 Getball 乱跳 local AssisterNumLast = 0 -local AssisterNum = 0 +local NowAssisterNum = 0 local matchChangeCount = 0 local firstAssisterNum = 0 +local Assisterkey = 0 local getBallRoleMatch = function(resState) - AssisterNum = player.num("Assister") - if AssisterNum ~= AssisterNumLast then + NowAssisterNum = player.num("Assister") + if Assisterkey == 0 then + firstAssisterNum = NowAssisterNum + Assisterkey = 1 + end + if NowAssisterNum ~= AssisterNumLast then matchChangeCount = matchChangeCount + 1 end - if matchChangeCount > 3 then + if matchChangeCount > 3 and firstAssisterNum ~= NowAssisterNum then matchChangeCount = 0 return resState end - AssisterNumLast = AssisterNum + AssisterNumLast = NowAssisterNum end - +------------------------------------------------------------------------------------------------------------------------------------------------ local subScript = false return { @@ -217,15 +222,14 @@ firstState = "Init", end, Assister = task.getball("Assister",playerVel,getballMode,ballPos()), - Kicker = task.goCmuRush(runPos("Kicker",true),closures_dir_ball("Kicker"),_,DSS_FLAG), - Special = task.goCmuRush(runPos("Special"),closures_dir_ball("Special"),_,DSS_FLAG), + Kicker = task.goCmuRush(function() return KickerRUNPos end,closures_dir_ball("Kicker"),_,DSS_FLAG), + Special = task.goCmuRush(function() return SpecialRUNPos end ,closures_dir_ball("Special"),_,DSS_FLAG), Tier = task.stop(), Defender = task.stop(), Goalie = task.goalie("Goalie"), match = "{AKSTDG}" }, - -- 射球 ["ShootPoint"] = { switch = function() @@ -235,8 +239,8 @@ firstState = "Init", return State end, Assister = gSubPlay.roleTask("ShootPoint", "Assister"), - Kicker = task.goCmuRush(runPos("Kicker",true),closures_dir_ball("Kicker"),_,DSS_FLAG), - Special = task.goCmuRush(runPos("Special"),closures_dir_ball("Special"),_,DSS_FLAG), + Kicker = task.goCmuRush(function() return KickerRUNPos end,closures_dir_ball("Kicker"),_,DSS_FLAG), + Special = task.goCmuRush(function() return SpecialRUNPos end,closures_dir_ball("Special"),_,DSS_FLAG), Tier = task.stop(), Defender = task.stop(), Goalie = task.goalie("Goalie"), @@ -250,13 +254,6 @@ firstState = "Init", UpdataTickMessage(our_goalie_num,defend_num1,defend_num2) -- 更新帧信息 local State = getState() getState() - -- if(State ~= "Getball") then - -- return State - -- end - -- if (player.canTouch("Kicker",shoot_pos,canTouchAngle) and ball.velMod() > 800) then - -- return "Touch" - -- end - if State ~= "Getball" then return State else @@ -267,70 +264,33 @@ firstState = "Init", end end, Assister = task.getball("Assister",playerVel,getballMode,ballPos()), - Kicker = task.goCmuRush(runPos("Kicker",true),closures_dir_ball("Kicker"),_,DSS_FLAG), - Special = task.goCmuRush(runPos("Special"),closures_dir_ball("Special"),_,DSS_FLAG), + Kicker = task.goCmuRush(function() return KickerRUNPos end,closures_dir_ball("Kicker"),_,DSS_FLAG), + Special = task.goCmuRush(function() return SpecialRUNPos end,closures_dir_ball("Special"),_,DSS_FLAG), Tier = task.stop(), Defender = task.stop(), Goalie = task.goalie("Goalie"), - match = "[AK]{STDG}" + match = "[AKS]{TDG}" }, --- 接球 +-- 接球（静态 保证脚本不会乱跳） ["GetballStatic"] = { switch = function() UpdataTickMessage(our_goalie_num,defend_num1,defend_num2) -- 更新帧信息 local State = getState() getState() - -- if(State ~= "Getball") then - -- return State - -- end - - - -- 接球的时候检测是否可以touch - - -- if (player.canTouch("Kicker",shoot_pos,canTouchAngle)) then - -- return "Touch" - -- end - - if State ~= "Getball" then return State end end, Assister = task.getball("Assister",playerVel,getballMode,ballPos()), - Kicker = task.goCmuRush(runPos("Kicker",true),closures_dir_ball("Kicker"),_,DSS_FLAG), - Special = task.goCmuRush(runPos("Special"),closures_dir_ball("Special"),_,DSS_FLAG), + Kicker = task.goCmuRush(function() return KickerRUNPos end,closures_dir_ball("Kicker"),_,DSS_FLAG), + Special = task.goCmuRush(function() return SpecialRUNPos end,closures_dir_ball("Special"),_,DSS_FLAG), Tier = task.stop(), Defender = task.stop(), Goalie = task.goalie("Goalie"), match = "{AKSTDG}" }, - - --- touch -["Touch"] = { - switch = function() - UpdataTickMessage(our_goalie_num,defend_num1,defend_num2) - if(bufcnt(true,100))then - return "GetGlobalMessage" - end - if(GlobalMessage.Tick.ball.rights == -1)then - return "GetGlobalMessage" - end - -- debugEngine:gui_debug_msg(CGeoPoint:new_local(0,-3000),) - if(player.kickBall("Kicker"))then - return "GetGlobalMessage" - end - end, - Assister = task.goCmuRush(runPos("Assister"),closures_dir_ball("Assister"),_,DSS_FLAG), - Kicker = task.touchKick(function() return shoot_pos end,_,touchPower,kick.flat),--task.goCmuRush(runPos("Kicker"),closures_dir_ball("Kicker")), - Special = task.goCmuRush(runPos("Special"),closures_dir_ball("Special"),_,DSS_FLAG), - Tier = task.defender_defence("Tier"), - Defender = task.defender_defence("Defender"), - Goalie = task.goalie("Goalie"), - match = "{ASKTDG}" -}, -- 带球 ["dribbling"] = { switch = function() @@ -341,14 +301,13 @@ firstState = "Init", end, --dribbling_target_pos Assister = task.goCmuRush(ShowDribblingPos(), dribblingDir("Assister"),dribblingVel,flag.dribbling), - Kicker = task.goCmuRush(runPos("Kicker",true),closures_dir_ball("Kicker"),_,DSS_FLAG), - Special = task.goCmuRush(runPos("Special"),closures_dir_ball("Special"),_,DSS_FLAG), - Tier = task.defender_defence("Tier"), - Defender = task.defender_defence("Defender"), + Kicker = task.goCmuRush(function() return KickerRUNPos end,closures_dir_ball("Kicker"),_,DSS_FLAG), + Special = task.goCmuRush(function() return SpecialRUNPos end,closures_dir_ball("Special"),_,DSS_FLAG), + -- Tier = task.defender_defence("Tier"), + -- Defender = task.defender_defence("Defender"), Goalie = task.goalie("Goalie"), match = "{AKSTDG}" }, - -- 防守 盯防 ["defendNormalState"] = { switch = function() @@ -358,10 +317,10 @@ firstState = "Init", return State end, Assister = task.getball("Assister",playerVel,getballMode,ballPos()), - Kicker = task.goCmuRush(runPos("Kicker",true),closures_dir_ball("Kicker"),_,DSS_FLAG), - Special = task.goCmuRush(runPos("Special"),closures_dir_ball("Special"),_,DSS_FLAG), - Tier = task.defender_defence("Tier"), - Defender = task.defender_defence("Defender"), + Kicker = task.goCmuRush(function() return KickerRUNPos end,closures_dir_ball("Kicker"),_,DSS_FLAG), + Special = task.goCmuRush(function() return SpecialRUNPos end,closures_dir_ball("Special"),_,DSS_FLAG), + -- Tier = task.defender_defence("Tier"), + -- Defender = task.defender_defence("Defender"), Goalie = task.goalie("Goalie"), match = "(AKS){TDG}" }, diff --git a/ZBin/lua_scripts/worldmodel/param.lua b/ZBin/lua_scripts/worldmodel/param.lua index e6b0317..1c5e330 100644 --- a/ZBin/lua_scripts/worldmodel/param.lua +++ b/ZBin/lua_scripts/worldmodel/param.lua @@ -22,7 +22,7 @@ powerShoot = 300 powerTouch = 300 shootPos = CGeoPoint(0,0) shootError = 5--1.8 -shootKp = 1.6 +shootKp = 0.8 --------------------------------- -- 旋转参数 rotPos = CGeoPoint(150,120) diff --git a/ZBin/lua_scripts/worldmodel/task.lua b/ZBin/lua_scripts/worldmodel/task.lua index 8a21aaf..4223378 100644 --- a/ZBin/lua_scripts/worldmodel/task.lua +++ b/ZBin/lua_scripts/worldmodel/task.lua @@ -172,7 +172,8 @@ function power(p, Kp) --根据目标点与球之间的距离求出合适的 击 else p1 = p end - local res = Kp * (p1 - ball.pos()):mod() + local dist = (p1 - ball.pos()):mod() + local res = Kp * dist -- if res > 310 then -- res = 310 -- end @@ -182,10 +183,10 @@ function power(p, Kp) --根据目标点与球之间的距离求出合适的 击 if res > 6000 then res = 6000 end - if res < 2500 then - res = 2500 + if res < 3500 then + res = 3500 end - debugEngine:gui_debug_msg(CGeoPoint:new_local(0,3200),"Power" .. res,3) + debugEngine:gui_debug_msg(CGeoPoint:new_local(0,3200),"Power" .. res .. " toTargetDist: " .. dist,3) return res end end