Merge branch 'main' of github.com:Umbrella167/Rocos

Core/HuRocos-2024/play/Nor_Defend.lua

@@ -27,7 +27,7 @@ return {
         end,
         Tier = function() return task.defend_norm("Tier", 0) end,
         Defender = function() return task.defend_norm("Defender", 1) end,
-        match = "(TD)"
+        match = "{TD}"
     },
     ["defend_front"] = {
         switch = function()
@@ -48,7 +48,7 @@ return {
         end,
         Tier = function() return task.defend_front("Tier") end,
         Defender = function() return task.defend_front("Defender") end,
-        match = "(TD)"
+        match = "{TD}"
     },
     ["defend_kick"] = {
         switch = function()
@@ -58,7 +58,7 @@ return {
         end,
         Tier = function() return task.defend_kick("Tier") end,
         Defender = function() return task.defend_kick("Defender") end,
-        match = "(TD)"
+        match = "{TD}"
     },
 
     name = "Nor_Defend",

Core/HuRocos-2024/play/Nor_DefendV2.lua

@@ -0,0 +1,77 @@
+return {
+    __init__ = function(name, args)
+        print("in __init__ func : ",name, args)
+    end,
+    firstState = "defend_norm",
+    ["defend_norm"] = {
+        switch = function()
+            local rolePos = CGeoPoint:new_local(player.rawPos("Goalie"):x(), player.rawPos("Goalie"):y())
+            local getBallPos = Utils.GetBestInterPos(vision, rolePos, param.playerVel, 1, 1,param.V_DECAY_RATE)
+
+
+
+
+            -- local ballToCloestEnemyDist = ball.rawPos():dist(enemy.pos(enemy.closestBall()))
+            -- for i=0, param.maxPlayer-1 do
+            --     if enemy.valid(i) then
+            --         -- debugEngine:gui_debug_msg(CGeoPoint(-1000, 1000+(i*150)), i.."   "..enemy.toOurGoalDist(i).."    "..param.FronterRadius*5/3)
+            --         if enemy.toOurGoalDist(i) < param.FronterRadius*5/3 then
+            --             return "defend_front"
+            --         end
+            --     end
+            -- end
+
+            -- if player.toBallDist(player.closestBall()) > param.playerRadius * 6 then
+            --     for i=0, task.FronterCount-1 do
+            --         local rolePos = CGeoPoint:new_local(player.rawPos(task.FronterNums[i]):x(), player.rawPos(task.FronterNums[i]):y())
+            --         local getBallPos = Utils.GetBestInterPos(vision, rolePos, param.playerVel, 2,0,param.V_DECAY_RATE)
+            --         if player.toPointDist(task.FronterNums[i], getBallPos) < 1000 then
+            --             return "defend_kick"
+            --         end
+            --     end
+            -- end
+        end,
+        Breaker = function() return task.defend_normV2("Breaker", 0, 1) end,
+        Fronter = function() return task.defend_normV2("Fronter", 1, 1) end,
+        match = "[BF]"
+    },
+    ["defend_front"] = {
+        switch = function()
+            if bufcnt(true, 20) then
+            end
+            if player.toBallDist(player.closestBall()) > param.playerRadius * 6 then
+                for i=0, task.FronterCount-1 do
+                    local rolePos = CGeoPoint:new_local(player.rawPos(task.FronterNums[i]):x(), player.rawPos(task.FronterNums[i]):y())
+                    local getBallPos = Utils.GetBestInterPos(vision, rolePos, param.playerVel, 2,0,param.V_DECAY_RATE)
+                    if player.toPointDist(task.FronterNums[i], getBallPos) < 300 then
+                        return "defend_kick"
+                    end
+                end
+            end
+            if enemy.toOurGoalDist(enemy.closestGoal()) > param.FronterRadius*5/3 then
+                return "defend_norm"
+            end
+        end,
+        Breaker = function() return task.defend_front("Breaker") end,
+        Fronter = function() return task.defend_front("Fronter") end,
+        match = "[TD]"
+    },
+    ["defend_kick"] = {
+        switch = function()
+            if bufcnt(true, 20) then
+                return "defend_norm"
+            end
+        end,
+        Breaker = function() return task.defend_kick("Breaker") end,
+        Fronter = function() return task.defend_kick("Fronter") end,
+        match = "[TD]"
+    },
+
+    name = "Nor_DefendV2",
+    applicable = {
+        exp = "a",
+        a = true
+    },
+    attribute = "attack",
+    timeout = 99999
+}

ZBin/lua_scripts/worldmodel/param.lua

@@ -27,6 +27,7 @@ penaltyDepth              = CGetSettings("field/penaltyWidth", "Int")
 penaltyRadius             = penaltyWidth / 2
 penaltySegment            = 500
 ourTopRightPenaltyPos     = CGeoPoint:new_local(-pitchLength / 2 + penaltyDepth, penaltyRadius)
+ourButtomRightPenaltyPos  = CGeoPoint:new_local(-pitchLength / 2 + penaltyDepth, -penaltyRadius)
 ourTopPenaltyPos          = CGeoPoint:new_local(-pitchLength / 2, penaltyRadius)
 ourButtomPenaltyPos       = CGeoPoint:new_local(-pitchLength / 2, -penaltyRadius)
 -- 球门参数
@@ -37,7 +38,7 @@ ourGoalLine               = CGeoSegment(CGeoPoint:new_local(-pitchLength / 2, -I
 ourGoalPos                = CGeoPoint:new_local(-pitchLength / 2, 0)
 ourTopGoalPos             = CGeoPoint:new_local(-pitchLength / 2, goalRadius)
 ourButtomGoalPos          = CGeoPoint:new_local(-pitchLength / 2, -goalRadius)
-
+penaltyMiddleLine         = CGeoSegment(ourGoalPos, ourGoalPos + Utils.Polar2Vector(penaltyDepth, 0))
 
 -- 是否为真实场地
 isReality = false
@@ -102,7 +103,13 @@ markingPosRate2 = 1 / 10
 --             defend参数             --|
 -----------------------------------------------|
 defenderShootMode = function() return 1 end -- 1 flat  2 chip
-defenderBuf = playerRadius * 3
+defenderBuf = playerRadius * 1.5
+
+defenderTopRightPos     = CGeoPoint:new_local(-pitchLength / 2 + penaltyDepth + defenderBuf, penaltyRadius + defenderBuf)
+defenderButtomRightPos  = CGeoPoint:new_local(-pitchLength / 2 + penaltyDepth + defenderBuf, -penaltyRadius - defenderBuf)
+defenderTopPos          = CGeoPoint:new_local(-pitchLength / 2, penaltyRadius + defenderBuf)
+defenderButtomPos       = CGeoPoint:new_local(-pitchLength / 2, -penaltyRadius - defenderBuf)
+
 defenderRadius = ourGoalPos:dist(ourTopRightPenaltyPos) + defenderBuf
 defenderAimX = -pitchLength / 4
 -----------------------------------------------|

ZBin/lua_scripts/worldmodel/task.lua

@@ -721,7 +721,7 @@ function getDefenderCount()
 	defenderCount = 0
 	for i=0, param.maxPlayer-1 do
 		playerName = player.name(i)
-		if player.valid(i) and (playerName == "Tier" or playerName == "Defender") then
+		if player.valid(i) and (playerName == "Breaker" or playerName == "Fronter") then
 			defenderNums[defenderCount] = i
 			defenderCount = defenderCount + 1
 		end
@@ -743,6 +743,134 @@ function isClosestPointDefender(role, p)
 	return player.num(role)==roleNum and true or false
 end
 
+function getLineCrossDefenderPos(pos_, posOrDir_)
+	local resPos = CGeoPoint(param.INF, param.INF)
+	local minDist = param.INF
+	local line_ = CGeoSegment(pos_, pos_)
+	if type(posOrDir_) == 'number' then
+		line_ = CGeoSegment(pos_, pos_+Utils.Polar2Vector(param.INF, posOrDir_))
+		debugEngine:gui_debug_line(pos_, pos_+Utils.Polar2Vector(param.INF, posOrDir_))
+	elseif type(posOrDir_) == 'userdata' then
+		line_ = CGeoSegment(pos_, posOrDir_)
+		debugEngine:gui_debug_line(pos_, posOrDir_)
+	end
+	-- 打印defender行走的框
+	debugEngine:gui_debug_line(param.defenderTopRightPos, param.defenderButtomRightPos)
+	debugEngine:gui_debug_line(param.defenderTopPos, param.defenderTopRightPos)
+	debugEngine:gui_debug_line(param.defenderButtomPos, param.defenderButtomRightPos)
+
+	local defenderTopLine = CGeoSegment(param.defenderTopPos, param.defenderTopRightPos)
+	local defenderMiddleLine = CGeoSegment(param.defenderTopRightPos, param.defenderButtomRightPos)
+	local defenderButtomLine = CGeoSegment(param.defenderButtomPos, param.defenderButtomRightPos)
+	local tPos = line_:segmentsIntersectPoint(defenderTopLine)
+	if pos_:dist(tPos) < minDist then
+		resPos = tPos
+		minDist = pos_:dist(tPos)
+	end
+	-- debugEngine:gui_debug_x(tPos, 0)
+	local tPos = line_:segmentsIntersectPoint(defenderMiddleLine)
+	if pos_:dist(tPos) < minDist then
+		resPos = tPos
+		minDist = pos_:dist(tPos)
+	end
+	-- debugEngine:gui_debug_x(tPos, 0)
+	local tPos = line_:segmentsIntersectPoint(defenderButtomLine)
+	if pos_:dist(tPos) < minDist then
+		resPos = tPos
+		minDist = pos_:dist(tPos)
+	end
+	-- debugEngine:gui_debug_x(tPos, 0)
+	return resPos
+end
+
+function isCrossPenalty(rolePos, targetPos)
+	local line_ = CGeoSegment(rolePos, targetPos)
+	local tPos = line_:segmentsIntersectPoint(param.penaltyMiddleLine)
+	debugEngine:gui_debug_x(tPos)
+	debugEngine:gui_debug_msg(CGeoPoint(1000, 1000), tPos:x().."  "..tPos:y())
+	if tPos == CGeoPoint(9999, 9999) then
+		return false
+	end
+	return true
+end
+
+function simpleMoveTargetPos(rolePos, targetPos)
+	local tPosX = targetPos:x()
+	local tPosY = targetPos:y()
+	debugEngine:gui_debug_msg(CGeoPoint(-2000, 2000), "x: "..math.abs(rolePos:x() - targetPos:x()))
+	debugEngine:gui_debug_msg(CGeoPoint(-2000, 2200), "y: "..math.abs(rolePos:y() - targetPos:y()))
+
+	debugEngine:gui_debug_msg(CGeoPoint(0,0), tostring(isCrossPenalty(rolePos, targetPos)))
+
+	if math.abs(rolePos:x() - targetPos:x()) > 100 and math.abs(rolePos:y() - targetPos:y()) > 100 or isCrossPenalty(rolePos, targetPos) then
+		tPosX = param.defenderTopRightPos:x()
+		if math.abs(rolePos:y() - param.defenderTopRightPos:y()) < 100 and math.abs(rolePos:x() - param.defenderTopRightPos:x()) > param.defenderBuf then
+			tPosY = param.defenderTopRightPos:y()
+			-- tPosY = rolePos:y()
+		end
+		if math.abs(rolePos:y() - param.defenderButtomRightPos:y()) < 100 and math.abs(rolePos:x() - param.defenderButtomRightPos:x()) > param.defenderBuf  then
+			tPosY = param.defenderButtomRightPos:y()
+			-- tPosY = rolePos:y()
+		end
+	end
+
+	return CGeoPoint(tPosX, tPosY)
+end
+
+
+-- defender_norm script 
+-- mode: 0 upper area, 1 down area, 2 middle
+-- flag: 0 aim the ball, 1 aim the enemy
+function defend_normV2(role, mode, flag)
+	debugEngine:gui_debug_x(getLineCrossDefenderPos(ball.pos(), ball.velDir()), 3)
+	debugEngine:gui_debug_x(getLineCrossDefenderPos(ball.pos(), param.ourGoalPos), 3)
+
+
+	getDefenderCount()
+	if defenderCount == 1 then
+		mode = 2
+	end
+	if flag == nil then
+		flag = 0
+	end
+	local enemyNum = getManMarkEnemy()
+	local enemyPos = CGeoPoint:new_local(enemy.posX(enemyNum), enemy.posY(enemyNum))
+	local goalieToEnemyDir = (enemy.pos(enemyNum) - player.rawPos("Goalie")):dir()
+	local rolePos = CGeoPoint:new_local(player.rawPos(role):x(), player.rawPos(role):y())
+	local ballPos = CGeoPoint:new_local(ball.rawPos():x(), ball.rawPos():y())
+	local basePos = param.ourGoalPos
+	local targetPos = ballPos
+
+	if mode == 0 then
+		basePos = param.ourTopGoalPos
+	elseif mode == 1 then
+		basePos = param.ourButtomGoalPos
+	elseif mode == 2 then
+		basePos = param.ourGoalPos
+	end
+
+	if flag == 0 then
+		targetPos = ballPos
+	elseif flag == 1 then
+		targetPos = enemyPos
+	end
+
+	local defenderPoint = getLineCrossDefenderPos(targetPos, basePos)
+
+	if defenderPoint == CGeoPoint(9999, 9999) then
+		defenderPoint = rolePos
+	end
+	defenderPoint = simpleMoveTargetPos(rolePos, defenderPoint)
+	debugEngine:gui_debug_x(defenderPoint, 0)
+
+	local idir = player.toPointDir(enemyPos, role)
+	local mexe, mpos = SimpleGoto { pos = defenderPoint, dir = idir, acc = a, flag = 0x00000100, rec = r, vel = endVelController(role, defenderPoint) }
+	-- local mexe, mpos = GoCmuRush { pos = defenderPoint, dir = idir, acc = a, flag = 0x00000100, rec = r, vel = endVelController(role, defenderPoint) }
+	return { mexe, mpos }
+end
+
+
+
 -- defender_norm script 
 -- mode: 0 upper area, 1 down area, 2 middle
 -- flag: 0 aim the ball, 1 aim the enemy